An intraoral scanner for performing intraoral scans, comprising: an illumination module; a non-telecentric confocal optical system comprising a plurality of lenses, wherein the non-telecentric confocal optical system comprises focusing optics configured to focus light comprising an array of beams from the illumination module onto a focal surface and to direct the light from the illumination module toward a three dimensional object to be imaged in an oral cavity, the focusing optics comprising at least one lens of the plurality of lenses; a translation mechanism configured to adjust a location of the at least one lens to displace the focal surface along an imaging axis defined by an optical path of the light from the illumination module, wherein adjustments to the location of the at least one lens cause a change in magnification of the focal surface; a detector configured to generate surface scan data by measuring light returning from the three dimensional object and directed back through the focusing optics; and a computing device configured to: determine positions of a plurality of points of the three dimensional object based on the surface scan data; adjust the determined positions of one or more of the plurality of points using one or more compensation models to compensate for respective magnifications of the focal surface associated with respective locations of the at least one lens, wherein the computing device is configured to adjust a position along an x-axis, a position along a y-axis, and a position along a z-axis for at least one of the plurality of points; and generate a three-dimensional virtual model of the three dimensional object imaged in the oral cavity using the adjusted positions. an illumination module; a non-telecentric confocal optical system comprising a plurality of lenses, wherein the non-telecentric confocal optical system comprises focusing optics configured to focus light comprising an array of beams from the illumination module onto a focal surface and to direct the light from the illumination module toward a three dimensional object to be imaged in an oral cavity, the focusing optics comprising at least one lens of the plurality of lenses; a translation mechanism configured to adjust a location of the at least one lens to displace the focal surface along an imaging axis defined by an optical path of the light from the illumination module, wherein adjustments to the location of the at least one lens cause a change in magnification of the focal surface; a detector configured to generate surface scan data by measuring light returning from the three dimensional object and directed back through the focusing optics; and a computing device configured to: determine positions of a plurality of points of the three dimensional object based on the surface scan data; adjust the determined positions of one or more of the plurality of points using one or more compensation models to compensate for respective magnifications of the focal surface associated with respective locations of the at least one lens, wherein the computing device is configured to adjust a position along an x-axis, a position along a y-axis, and a position along a z-axis for at least one of the plurality of points; and generate a three-dimensional virtual model of the three dimensional object imaged in the oral cavity using the adjusted positions. determine positions of a plurality of points of the three dimensional object based on the surface scan data; adjust the determined positions of one or more of the plurality of points using one or more compensation models to compensate for respective magnifications of the focal surface associated with respective locations of the at least one lens, wherein the computing device is configured to adjust a position along an x-axis, a position along a y-axis, and a position along a z-axis for at least one of the plurality of points; and generate a three-dimensional virtual model of the three dimensional object imaged in the oral cavity using the adjusted positions.