We propose a new approach of photometric stereo with ani-
sotropic pointwise sources such as LEDs. This approach is
both differential and variational, in order to recover the
depth directly and in a robust manner, without estimating
the normals and the albedo in a first step. We then show
how to use this approach in order to refine the depth map
obtained with a RGB-D sensor, by integrating on the sensor
three colored LEDs allowing us to apply colored photome-
tric stereo on the RGB image.