Handheld 3d scanner

A handheld scanner for generating 3D data relating to a surface of a target object, the handheld scanner comprising a frame on which is mounted a set of imaging modules including at least one camera, the frame having an outer periphery where at least part of the set of imaging modules is located, the frame having an inner periphery defining an opening at least partially enclosed by the frame, and wherein:

• a plurality of handle regions is provided around the opening, the plurality of handle regions including at least two distinct handle regions defining regions where the handheld scanner is configured to be held by a hand of a user;
• the at least two distinct handle regions having different orientations relative to one another and relative to the set of imaging modules so that, in use, by gripping a first handle region of the at least two distinct handle regions, the user orients the handheld scanner in a first orientation and, by gripping a second handle region of the at least two distinct handle regions, the user orients the handheld scanner in a second orientation distinct from the first orientation.