A three-dimensional imaging apparatus 101 for generating an image of a three-dimensional object 111 is disclosed. The 3D-imaging apparatus 101 has two sets 103a, 103b of reflective elements 105, an image-capturing device 107 and a processor. The image-capturing device 107 is for capturing two images using rays emitted from the object 111 and reflected from each of the two sets 103a, 103b of reflective elements 105. The processor is arranged to identify a plurality of sets of matching points in the respective captured images, each set of the matching points having been generated by the respective rays emitted by a single corresponding element of the object 111. For each set of the matching points identified in the respective captured images, the processor is arranged to determine a location of the corresponding element of the object 111. Thus, a three-dimensional image of the object 111 can be generated by the processor using the determined locations of a plurality of elements of the object 111. A method of generating a three-dimensional image of an object is also disclosed.