A method for determining surface characteristics of an intraoral structure may include illuminating an intraoral structure with light of a first light source passing through focusing optics and capturing depth image data during the illumination with the first light source of light from the intraoral structure passing through the focusing optics. The method may also include illuminating the intraoral structure with a second light source and capturing two-dimensional image data during the illumination with the second light source. Depth data of the intraoral structure may be generated using the depth image data and the two-dimensional image data may be mapped to the depth data.