1. A method for obtaining a 3D model of an object, comprising: projecting a pattern onto the object from at least first and second positions; observing the pattern from the first and second positions by capturing an image P of the pattern incident on the object; capturing an illumination image I of the object from each of the first and second positions, wherein the image I is captured using an imaging system comprising a projection portion and one or more imaging portions; forming a 3D model of the object for each of the first and second positions by analyzing observed distortions to the pattern P caused by a 3D surface of the object; using the 3D model in conjunction with each illumination image Ito find a pixel in the illumination image I of the object from the first position that corresponds to a pixel in the illumination image I of the object from the second position, wherein the corresponding pixels are a matched pixel; and using photogrammetry to determine 3D coordinates for each matched pixel.