A method is provided for manufacturing a security document by intaglio-printing a rendering of a three-dimensional object on the security document. The method comprises at least the following: S1) providing a model (1) of the object with a plurality of surfaces (A, B, C, D) in three-dimensional space; S2) attributing, to each point on the surfaces (A, B, C, D), a
grayscale or color value; S3) using mapping functions (M) for mapping the surfaces (A, B, C, D) into two-dimensional parameter spaces, thereby defining
grayscale or color images (2) in the parameter spaces, wherein the
grayscale or color value of each point in said images is given by the grayscale or color of the point on the surface corresponding to the point of the image; S4) rendering, in the parameter spaces, the grayscale or color images (2) as
halftone images (3) using
halftone patterns, wherein at least some of the
halftone patterns are different from each other; S5) using inverses of the mapping functions for mapping the halftone images (3) as textures onto the surfaces (A, B, C, D); S6) projecting the model with the surfaces (A, B, C, D) carrying the textures into a two-dimensional printing plane using a three-dimensional projection (P), thereby projecting said halftone images (3) and textures into the printing plane; S7) rendering, within the printing plane, the surfaces (A, B, C, D) with the textures into a two-dimensional array of printing pixels and forming an intaglio printing plate (5) with recesses corresponding to the array of the printing pixels; and S8) printing, using the intaglio printing plate (5), the rendering of the three-dimensional object onto said security document.