What is the maths or algorithm reqd for 3 d scanning using stuctured light and how is the depth calculted?

what is the maths or algorithm reqd for 3 d scanning using stuctured light and how is the ditance or depth calculted? How can the 3 d image be obtained on the computer. these are a lot of questions so if its too big to explain .. please provide references of websites or books that i can read..