The device (1) has a light transmitting unit including an illuminating lens and for transmitting a measuring beam onto a to-be-observed area. A light-imaging unit has an imaging lens, a beam-splitter (41) and an optical switch. The lenses are positioned in an endoscopically applied shaft (29). A control and evaluation unit controls a light source (10) e.g. LED, powers a phase-sensitive image sensor (50), and evaluates data supplied by the sensor for generating three-dimensional data. An adaptive lens (42) adapts fields of vision of the sensor and additional image sensors (51, 52). An independent claim is also included for a method for endoscopic three-dimensional data collection.
