1. An apparatus for 3D shape measurement, comprising: a laser projecting device including a line-laser projector and LEDs attached to the line-laser projector as markers for estimating the position and orientation of the laser projecting device; an image capturing device for capturing the laser projecting device and a target object; and a computer for detecting a projected line-laser light and LEDs from a captured image and processing the image to compute a 3D shape measurement.