An imaging device, comprising: at least a light deflection device which comprises a light deflection element configured to deflect a projective light, wherein after the deflection of said light deflection element, said deflected projective light is projected to the outside of the light deflection projection device from a side thereof, and a light source (11, 11') configured to emit said projective light, characterized in that said imaging device further comprises a grating (12, 12'), and a condensing lens group, wherein the phase and/or amplitude of said projective light by showing said projective light delivered by said light source (11, 11') penetrating the grating (12, 12') is modulated, wherein projective light emitted from said light source (11, 11') and deflected by said light deflection element penetrates an emission lens (14, 14') to project to the outside of said imaging device, wherein said light deflection element is arranged between light paths of said condensing lens group and said emission lens (14, 14'), such that when said projective light emitted by said light source (11, 11') passes through said grating (12, 12'), said projective light is then refracted and aggregated by said condensing lens group, before reaching said light deflection element, wherein said projective light is then deflected by said light deflection element and emitted out of said light deflection projection device from said emission lens (14, 14'), wherein said projective light while reaching a surface of a target object is reflected, wherein said projective light reflected by said surface of said target object is received by a receiving device and obtaining a parameter information and wherein a 3D image by processing said parameter information by a processor of said imaging device is obtained, at least a light deflection device which comprises a light deflection element configured to deflect a projective light, wherein after the deflection of said light deflection element, said deflected projective light is projected to the outside of the light deflection projection device from a side thereof, and a light source (11, 11') configured to emit said projective light, characterized in that said imaging device further comprises a grating (12, 12'), and a condensing lens group, wherein the phase and/or amplitude of said projective light by showing said projective light delivered by said light source (11, 11') penetrating the grating (12, 12') is modulated, wherein projective light emitted from said light source (11, 11') and deflected by said light deflection element penetrates an emission lens (14, 14') to project to the outside of said imaging device, wherein said light deflection element is arranged between light paths of said condensing lens group and said emission lens (14, 14'), such that when said projective light emitted by said light source (11, 11') passes through said grating (12, 12'), said projective light is then refracted and aggregated by said condensing lens group, before reaching said light deflection element, wherein said projective light is then deflected by said light deflection element and emitted out of said light deflection projection device from said emission lens (14, 14'), wherein said projective light while reaching a surface of a target object is reflected, wherein said projective light reflected by said surface of said target object is received by a receiving device and obtaining a parameter information and wherein a 3D image by processing said parameter information by a processor of said imaging device is obtained,