The invention relates to an optical measuring device (1) for determining 3D coordinates of an object (2), comprising a projector device (11) for illuminating the object (2) with at least one predefined pattern (10); at least one PSA camera (12, 12') for capturing a 2D image (120) of the pattern (10) as reflected from the object (2); computing means (18) for measuring a sequence of brightness values (180, 180', 180") of at least one 2D image point (121, 121') from the 2D images (120, 120'); and calculating a 3D coordinate (21) of an object point (20) which is correlated with the measured sequence of brightness values (180, 180', 180") of the 2D image point (121, 121'), characterized by a range camera (13) for capturing at least one range image (133) of the object (2), the range image (133) including distance information (133') of the object (2) for the dissolution of ambiguity in calculating the 3D coordinate. The invention also relates to a method for determining 3D coordinates of an object (2) by said optical measuring device (1), the method comprising a structured-light measurement and capturing with a range camera (13) at least one range image (133) of the object (2), the range image (133) including distance information (133') of a plurality of points of the object (2).