1. Method for acquiring a substantially complete depth map from a 3-D scene with the steps of: a) acquiring an image of said 3-D scene using less than three cameras, b) acquiring partial depth map from said image, c) acquiring derivates of depth information from said image, d) extending said partial depth map by adding non-relevant information to said partial depth map, creating a pixel dense full depth map being spatially consistent with both said partial depth map and said derivates of depth information.