Three-dimensional measuring apparatus and three-dimensional measuring method

A measuring method for three-dimensionally measuring of a measured point, the method comprising:

• an imaging unit that can detect at least two kinds of colors;
• a beam splitter that combines at least two optical images that are incident from a plurality of routes;
• a moveable mirror that provides an image focusing position of an optical image at the measured point by a predetermined distance;
• a coloring unit that applies a predetermined color to an optical image incident to a route of the beam splitter;
• a rotating unit that rotates the beam splitter and the mirror at a predetermined rotational velocity;
• and
• a calculating unit that calculates a three-dimensional position of the measured point based on an optical image recorded by the imaging unit, wherein the calculating unit obtains, from the imaging unit, a straight-line streak image at the measured point that has passed through the coloring unit and a circular streak image from the mirror that is rotated by the rotating unit to calculate a moving direction of the measured point and a distance to the measured point, thereby measuring a three-dimensional position and a moving velocity of the measured point.