Abstract: A method for determining the shape of an object comprising the steps of: illuminating the object by projecting a structured light pattern generated by a plurality of projector pixels onto the object; forming an image from a plurality of camera pixels of the object; determining the intensity distribution of the image, on a pixel by pixel basis; identifying on a pixel by pixel basis a projector pixel corresponding to a camera pixel; adjusting the intensity of the structured light pattern on a pixel by pixel basis in dependence on the intensity distribution of the image to produce an intensity adjusted structured light pattern; using the intensity-adjusted structured light pattern to determine the shape of the object.