1. A method for determining an optimal location for positioning an image capturing device within a volume, the method comprising: obtaining a plurality of points to be visible from the image capturing device; performing inversion on points located in the vicinity of the plurality of points thus creating a computerized inversed object, each point in the vicinity of the plurality of point is translated to a corresponding point in the computerized inversed object, wherein the inversion is a monotonically decreasing function depending on the distance of a point of the computerized object from the viewpoint; defining a convex hull of the inversed object and the viewpoint; determining visibility of a point of the plurality of points from a determined viewpoint according to the position of the corresponding point on the convex hull relative to neighbor points of the point. repeating said determining for multiple locations of the determined viewpoint within the volume, determining whether the plurality of points are visible from each location; selecting the optimal location of the image capturing device based on the results of said repeated determining; wherein the computerized method is performed by a general purpose computer having a processor.