An optical system and measurement method for imaging three-dimensional objects with low light scatter comprising at least one source of radiation; a radiation projection means for creating a set of foci through a volume of an object; and a means for imaging the returned light from the set of foci on at least one camera, wherein the imaging of the volume of the object is at a different angle from the projection, allowing for detection of the returned light on separate camera pixels. The measurement method further comprises projecting a longitudinal grid of elongated foci through the volume of an object; imaging returned light from the object at a different angle on at least one camera, so as to avoid overlapping the elongated images; and analyzing the imaged, returned light to yield depth information of the object at a multiplicity of points.