1. A three-dimensional data acquisition system, comprising: at least one camera and at least one projector, said projector to illuminate the object within the field of the view of the camera with a sequence of code patterns, said camera to capture images the object illuminated by each projected pattern; a decoder to convert the code patterns into a code; a transition locator to locate discontinuities in the code pattern images; and a dequantizer to reconstruct a range image from said discontinuities and code.