1. A method for acquisition of a warped geometric shape, namely a warped curve or a warped surface, by determining the coordinates of the points on this warped curve or this warped surface, the method comprising: placing a set of sensors on the warped geometric shape, the sensors being chosen among accelerometers and magnetometers, each accelerometer configured to sense inclination relative to the vertical direction and each magnetometer configured to sense inclination relative to magnetic north, each sensor being designed to output signals representative of the inclination of the local tangent to the curve or of the inclinations of the local tangent plane to the surface, at the location of the sensors with respect to the vertical direction in the case of accelerometers or with respect to the direction of the earth's magnetic field in the case of magnetometers; and modeling the curve or the surface by: treating a distance between adjacent sensors as a straight line segment; obtaining an inclination measurement from a sensor at an end of each segment, each said segment corresponding to a tangent of the shape at that segment; and determining the spatial distribution of the points on the geometric shape by a step by step reconstruction of the straight line segments.