A method of generating a three-dimensional model of an object is disclosed. The method may use a light field camera to capture a plurality of light field images at a plurality of viewpoints. The method may include capturing a first light field image at a first viewpoint; capturing a second light field image at the second viewpoint; estimating a rotation and a translation of a light field from the first viewpoint to the second viewpoint; obtaining a disparity map from each of the plurality of light field image; and computing a three-dimensional point cloud by optimizing the rotation and translation of the light field and the disparity map. The first light field image may include a first plurality of subaperture images and the second light field image may include a second plurality of subaperture images.