1. A method of determining absolute coordinates of a three-dimensional surface of an object, the method comprising: projecting only two phase-shifted illumination patterns, wherein each of the illumination patterns encodes a marker, onto the surface of the object; projecting a uniform illumination pattern onto the surface of the object; capturing images of reflections of the illumination patterns from the surface of the object, including a black and white texture of the object surface; combining the captured images as to generate a phase-wrapped image; generating a relative unwrapped phase image by unwrapping the phase-wrapped image; generating an absolute phase image from the relative unwrapped phase image; and determining absolute coordinates of the surface of the object from the absolute phase image as well as surface texture of the object at said coordinates.