A three dimensional (3D) measuring device. The 3D measuring device includes a rotational supporting shaft, a supporting frame configured to support the supporting shaft, a beam irradiator arranged at the supporting shaft for irradiating beam of light onto an object, a capturer arranged at the supporting shaft to be at a distance from the beam irradiator and configured to capture the beam projected on the object, and at least one processor configured to control rotation of the supporting shaft and obtain a 3D shape of the object based on image information obtained by the capturer as the supporting shaft is rotated.