A method, apparatus, and system acquire data to create a 3D mesh representing a 3D object. The method, apparatus, and system acquire image data of the 3D object using an imaging probe that includes illumination and detection capability. A light source operates to illuminate the 3D object for reflection and/or trans-illumination imaging, and a detection assembly receives image reflection and/or trans-illumination image data. The reflectance and trans-illumination image data collected by the detection assembly are co-registered with a previously acquired 3D mesh using data from a tracking system monitoring the position of the probe, displayed in real-time, and optionally saved.