Apparatus and method for determining three-dimensional shape of object

A detachable angle determination device coupled to a shape determination device that determines a first three-dimensional shape of an object located on a reference plane, and configured to determine an angle of an upper surface of the object with respect to the reference plane, the detachable angle determination device comprising:

• a first light source configured to sequentially irradiate one or more first pattern lights having one phase range;
• a first iris configured to pass the one or more first pattern lights irradiated from the first light source;
• a beam splitter and one or more lenses configured to change optical paths of the one or more first pattern lights passing through the first iris so that a beam of light corresponding to a respective phase of the phase range spreads, and arrives at each point of a partial region of the upper surface of the object;
• a second iris configured to pass the one or more first reflected lights, generated by the reflection of the one or more first pattern lights from the partial region, to an image sensor of the shape determination device;
• a communication interface configured to communicate with the shape determination device;
• and
• a first processor that is electrically connected to the first light source and the communication interface, and that is configured to:
• obtain, from the image sensor, first information on one or more first reflected lights generated by reflecting the one or more first pattern lights from the partial region;
• and
• determine the angle of the upper surface with respect to the reference plane based on the first information.