3-D model acquisition of an object is performed using two planar mirrors and a camera. According to some embodiments, 3-D reconstruction is achieved by recovering the scene geometry, including the equations of the mirrors, the camera parameters and the position of the markers, which give the location and orientation of the subjects. After establishing the geometry, a volume intersection algorithm is applied to build a 3-D model of the subject. Camera parameters and spatial constraints of the mirrors may be initially unknown. Camera parameters may be solved with reference to the object and references in the object. Further, distance from the camera to at least one point on the object may be determined once camera parameters are solved. Markers having fixed relative positions may be provided on the object for reference.