A 3D imager is presented capable of computing the depth map as well as the intensity scale of a given scene. The heart of the system is a two-dimensional array of single photon avalanche diodes fabricated in standard CMOS technology. The diodes exhibit low noise equivalent power, high dynamic range and superior linearity. The 3D imager achieves sub-millimetric precision at depth-of-field of a few meters. It operates using a standard LASER source pulsed at 50MHz with 40mW peak power and requires no mechanical scanning mechanisms or expensive optical equipment.