A three-dimensional (3D) scanner includes a housing, one or more light sources, one or more optical sensors, a plurality of processors in communication with the one or more light sources and the one or more optical sensors, and memory storing instructions for generating data corresponding to a 3D shape of a surface of an object by repeatedly performing the operations of: projecting, using the one or more light sources, structured light toward the surface of the object; and while projecting the structured light toward the surface of the object, acquiring, using the one or more optical sensors, an image of the surface of the object. The 3D scanner further includes a cooling manifold internal to the housing comprising a single piece of metal thermally coupled with the one or more light sources, the one or more optical sensors and the plurality of processors.