1. A sensing device comprising: a plurality of sensors to capture light intensity values and light direction information of incoming light, each sensor comprising a plurality of sensor pixels, each sensor pixel having a sensor pixel field of view; the plurality of sensors being arranged on a support of predetermined shape to acquire light from directions observable by the plurality of sensors; an image constructor configured to generate an image comprising a plurality of image pixels, and configured to generate an image pixel observation direction for each image pixel, the image pixel observation direction being a viewing direction from the image pixel for which an image pixel intensity value of the image pixel is determined; the image constructor being further configured to receive image pixel intensity values form and image pixel intensity generator and to construct said image using the received image pixel intensity values; a sensor pixel position generator configured to determine, for each image pixel observation direction, at least one sensor having said image pixel observation direction in or closet to its sensor pixel field of view; and an image pixel intensity generator configured to determine, for each image pixel observation direction, an image pixel intensity value based on the at least one sensor pixel intensity value of said at least one sensor pixel.