In this paper, we propose and demonstrate a new 3D imaging technique which can simultaneously provide surface shape, color, and polarization information of an object. The system employs a custom color full Stokes polarization camera and a digital color fringe projector. The color and polarization data provide additional surface details not possible using conventional fringe projection 3D imaging techniques, but important for target identification. We demonstrate that, for an object with weak spectral dependent polarization properties, it is possible to obtain surface shape, intensity, and polarization information in a snapshot, dramatically improving the imaging speed. © 2020 Elsevier Ltd