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The shape of the objects is an important property, which can be used by many applications. There are simple shapes, which can be acquired by the most of the 3D measurement devices. There are very complex surfaces, as well, which acquisition can be performed only by a small subset of the recently used techniques. The goal of our work is to develop a measurement device, which is able to measure complicated surfaces containing hidden areas with high precision. The algorithm is optimized for real-time processing.