A method for generating a structured-light pattern is disclosed, wherein high-resolution real-time three-dimensional (3D) data can be obtained by using a single frame (or one-shot) imaging or double frames (or two-shot) imaging methods. The structured-light pattern for the one-shot imaging is formed of a multiple-stripe color pattern using a color selection scheme and a sequence principle. The proposed color selection scheme reduces the ambiguity in stripe labeling in one-shot imaging, and the proposed sequence principle increases the number of distinguishable stripe codes. The structured-light pattern for two-shot imaging is formed so that three-dimensional (3D) data can be obtained even for objects having strong surface colors with ambient lights, wherein the first two-shot pattern is synthesized, thereby forming a multiple-stripe color pattern using sign codes and a sequence principle under a condition that prevents color-transitions in more than one channels from occurring. Subsequently, the second two-shot pattern is formed by reversing the first two-shot pattern. Accordingly, high-resolution real-time three-dimensional (3D) data, which is insensitive to object shape and surface color, system noise and nonlinearity, can be obtained.