Method and arrangements for forming image data for use in 3D imaging of an object

One or more devices ( ) for forming image data for use in 3D imaging of an object (520), wherein said image data are from an imaging system (505) based on light triangulation for 3D imaging of the object (520), said imaging system (505) comprising at least one camera (530) and at least one light source (510) for provision of one or more illuminations (511) in one or more light planes that geometrically correspond to the same plane or parallel planes, and wherein said imaging system (505) and said at least one camera (530) are configured to image object points of the object (520) at least twice, according to a first imaging and second imaging, during illumination of the object points by said one or more illuminations and in accordance with the light triangulation, wherein said first imaging and second imaging differ from each other in how specular reflections caused by said one or more illuminations are being imaged;

• wherein said one or more devices are configured to:
• obtain first image data, comprising at least positions of intensity peaks resulting from said first imaging of object points by the imaging system (505), and second image data, comprising at least positions of intensity peaks resulting from said second imaging of the object points by the imaging system (505), wherein said first and second image data correspond to first and second profile images (670), respectively, with common mapping to real world coordinates for intensity peaks (682, 683) caused by direct reflections from the object (520) in accordance with the light triangulation, and
• form said image data for use in the 3D imaging of the object (520) based on said obtained first and second image data, wherein said forming excludes intensity peak data that for a respective object point of said object points imaged twice have intensity peak characteristics that differ, or differ more than a certain extent, between the first and second image data.