A method of processing a set of endoscopic images of a scene, the scene including an object having a non-planar surface, the set being represented by a plurality of picture-elements defining an image plane, the images being characterized by different light intensity spatial distributions but the same viewpoint relative to the scene, the method comprising: receiving information pertaining to the different spatial intensity distributions together with the set of images; obtaining, using a static laser point or laser line, a depth of a location in the scene corresponding to a seed picture-element, said depth being a distance from an image sensor or camera capturing said images to said location in the scene; for each picture-element p of at least some picture-elements other than said seed picture-element: associating a depth z to said picture-element p, selecting a direction parallel to the image plane, said selecting being independent of any direction that was previously selected for any picture-element other than said picture-element p, constructing a weighted vector field based on said selected direction and said associated depth z, said weighted vector field being a linear combination of two or more characteristic vector fields, each characteristic vector field being constructed from a different pair of images and being multiplied by a respective weight coefficient, and calculating a height of a surface in the scene based on said constructed weighted vector field, said height being perpendicular to the image plane; and reconstructing a three-dimensional spatial representation of said surface based on said heights; wherein said weighted vector field is constructed according to a parameterization of illumination vectors as a function of said associated depth z of a point in the scene that corresponds to that picture-element p; and wherein associating the depth z to said picture-element p comprises an estimation of the value of z based on the value of z at a neighbor picture-element for which the height of the surface has already been estimated. receiving information pertaining to the different spatial intensity distributions together with the set of images; obtaining, using a static laser point or laser line, a depth of a location in the scene corresponding to a seed picture-element, said depth being a distance from an image sensor or camera capturing said images to said location in the scene; for each picture-element p of at least some picture-elements other than said seed picture-element: associating a depth z to said picture-element p, selecting a direction parallel to the image plane, said selecting being independent of any direction that was previously selected for any picture-element other than said picture-element p, constructing a weighted vector field based on said selected direction and said associated depth z, said weighted vector field being a linear combination of two or more characteristic vector fields, each characteristic vector field being constructed from a different pair of images and being multiplied by a respective weight coefficient, and calculating a height of a surface in the scene based on said constructed weighted vector field, said height being perpendicular to the image plane; and reconstructing a three-dimensional spatial representation of said surface based on said heights; wherein said weighted vector field is constructed according to a parameterization of illumination vectors as a function of said associated depth z of a point in the scene that corresponds to that picture-element p; and wherein associating the depth z to said picture-element p comprises an estimation of the value of z based on the value of z at a neighbor picture-element for which the height of the surface has already been estimated. associating a depth z to said picture-element p, selecting a direction parallel to the image plane, said selecting being independent of any direction that was previously selected for any picture-element other than said picture-element p, constructing a weighted vector field based on said selected direction and said associated depth z, said weighted vector field being a linear combination of two or more characteristic vector fields, each characteristic vector field being constructed from a different pair of images and being multiplied by a respective weight coefficient, and calculating a height of a surface in the scene based on said constructed weighted vector field, said height being perpendicular to the image plane; and reconstructing a three-dimensional spatial representation of said surface based on said heights; wherein said weighted vector field is constructed according to a parameterization of illumination vectors as a function of said associated depth z of a point in the scene that corresponds to that picture-element p; and wherein associating the depth z to said picture-element p comprises an estimation of the value of z based on the value of z at a neighbor picture-element for which the height of the surface has already been estimated.