1. A method of geometrical modeling comprising: acquiring from a scene 3D data to provide an acquired point-cloud having N points in a 3D coordinate system: acquiring from said scene a 2D image defined over a two-dimensional array of M pixels; and based on both said 2D image and said acquired point-cloud, using a processor to create additional points in said 3D coordinate system by associating pixels in said 2D array with direction vectors deduced using said 3D data, and generating a three-dimensional model of said scene using said additional points in said 3D coordinate system, said three-dimensional model being defined over a reconstructed point-cloud having P points at a higher density than that of said acquired point-cloud, wherein said P, said N and said M satisfy the relation N<P≦M.