A method comprising: receiving a plurality of reference images and a plurality of scene images that include a phase-shifted fringe embedded with a secondary speckle pattern, wherein the phase-shifted fringe embedded with the secondary speckle pattern is generated such that: a phase calculation of the phase-shifted fringe is independent of the embedded secondary speckle pattern; the secondary speckle pattern is embedded without reducing an amplitude of the phase-shifted fringe; a frequency of the phase-shifted fringe is not limited; and an order of the phase-shifted fringe is determined without calculating a difference of pixel intensity; determining a wrapped phase map based at least in part on the plurality of scene images; generating a continuous region mask, based at least in part on the wrapped phase map, wherein the continuous region mask identifies a plurality of continuous regions; and determining, for at least one region in the plurality of continuous regions, a period disparity for the at least one region based on the embedded secondary speckle pattern, wherein determining the period disparity comprises: identifying a plurality of sample locations in the at least one region; and determining a plurality of possible period disparity values based on the secondary speckle pattern for the at least one region at the sample locations; and identifying the period disparity for the at least one region as the most frequently determined possible period disparity value among the plurality of possible period disparity values for the sample locations within the at least one region. receiving a plurality of reference images and a plurality of scene images that include a phase-shifted fringe embedded with a secondary speckle pattern, wherein the phase-shifted fringe embedded with the secondary speckle pattern is generated such that: a phase calculation of the phase-shifted fringe is independent of the embedded secondary speckle pattern; the secondary speckle pattern is embedded without reducing an amplitude of the phase-shifted fringe; a frequency of the phase-shifted fringe is not limited; and an order of the phase-shifted fringe is determined without calculating a difference of pixel intensity; a phase calculation of the phase-shifted fringe is independent of the embedded secondary speckle pattern; the secondary speckle pattern is embedded without reducing an amplitude of the phase-shifted fringe; a frequency of the phase-shifted fringe is not limited; and an order of the phase-shifted fringe is determined without calculating a difference of pixel intensity; determining a wrapped phase map based at least in part on the plurality of scene images; generating a continuous region mask, based at least in part on the wrapped phase map, wherein the continuous region mask identifies a plurality of continuous regions; and determining, for at least one region in the plurality of continuous regions, a period disparity for the at least one region based on the embedded secondary speckle pattern, wherein determining the period disparity comprises: identifying a plurality of sample locations in the at least one region; and determining a plurality of possible period disparity values based on the secondary speckle pattern for the at least one region at the sample locations; and identifying the period disparity for the at least one region as the most frequently determined possible period disparity value among the plurality of possible period disparity values for the sample locations within the at least one region. identifying a plurality of sample locations in the at least one region; and determining a plurality of possible period disparity values based on the secondary speckle pattern for the at least one region at the sample locations; and identifying the period disparity for the at least one region as the most frequently determined possible period disparity value among the plurality of possible period disparity values for the sample locations within the at least one region.