1. An imaging device for producing a high-resolution three-dimensional (3-D) image of an object, comprising; a lens obstructed by a mask having a first set and a second set of off-axis apertures where; the first set of off-axis apertures comprises a plurality of apertures fitted with filter separators for capturing a plurality of defocused images of an object simultaneously; and the second set of off-axis apertures comprises a plurality of apertures fitted with filter separators differentiable from those of the first set of off-axis apertures for capturing a plurality of defocused images, a projector for projecting a pattern of markers on the surface of the object, the projected pattern of markers being of a wavelength corresponding to the filter separators of the second set of off-axis apertures; a sensor configured to capture the defocused images produced; and a data processing system, the data processing system having one or more processors configured to, by defocusing without stereo imaging, use the images captured on the sensor through the first set of off-axis apertures to determine camera pose, and use the images captured on the sensor through the second set of off-axis apertures to construct a high-resolution three-dimensional image of the object.