In this paper, we propose a new passive image sensing and visualization of 3D objects using concept of both resolution priority integral imaging (RPII) and depth priority integral imaging (DPII) to improve lateral and depth resolutions of 3D images simultaneously. We suppose that elemental images are the most important information for 3D performance of integral imaging, since they include both lateral and depth resolutions of 3D objects. Therefore, all resolutions of the reconstructed 3D images are determined by these elemental images in pickup stage. In this paper, we analyze the lateral and depth resolutions that depend on the basic parameters of camera or lens for pickup. Then, we describe our proposed method. To support our proposed method, we carry out the computer simulation. In addition, we analyze how the surface light of 3D objects placed in arbitrary position can be expressed within the permitted range according to the setting of camera parameters. Finally, to evaluate the performance of our method, peak signal to noise ratio (PSNR) is calculated.