We introduce a method to imperceptibly embed arbitrary binary patterns into ordinary color images displayed by unmodified off-the-shelf Digital Light Processing (DLP) projectors. The encoded images are visible only to cameras synchronized with the projectors and exposed for a short interval, while the original images appear only minimally degraded to the human eye. To achieve this goal, we analyze and exploit the micro-mirror modulation pattern used by the projection technology to generate intensity levels for each pixel and color channel. Our real-time embedding process maps the user's original color image values to the nearest values whose camera-perceived intensities are the ones desired by the binary image to be embedded. The color differences caused by this mapping process are compensated by error-diffusion dithering. The non-intrusive nature of our novel approach allows simultaneous (immersive) display and acquisition under controlled lighting conditions, as defined on a pixel level by the binary patterns. We therefore introduce structured light techniques into human-inhabited mixed and augmented reality environments, where they previously often were too intrusive.