A method for obtaining a depth map and a reflectivity map for a scene, comprising: projecting a structured light image on to a scene, the projected structured light image comprising a plurality of dots; capturing a structured light image of the scene, the captured structured light image comprising a plurality of pixels; determining a depth map based on the captured structured light image; detecting one or more of the plurality of dots projected on to the scene; the method being characterised in that it further comprises : determining a first corrected intensity profile, based on the determined depth map, for one or more portions of the captured structured light image corresponding to the detected dots; and calculating an additional intensity profile for at least one additional portion of the captured structured light image based on the determined first corrected intensity profile, the combined first corrected intensity profile and additional intensity profile comprising a reflectivity map, wherein a ratio of pixels associated with a dot from the plurality of dots to pixels not associated with a dot from the plurality of dots is about 1.0 or less, or wherein a ratio of pixels associated with a detected dot to pixels not associated with a detected dot, in at least one of a vertical direction and a horizontal direction, is about 0.5 or less. projecting a structured light image on to a scene, the projected structured light image comprising a plurality of dots; capturing a structured light image of the scene, the captured structured light image comprising a plurality of pixels; determining a depth map based on the captured structured light image; detecting one or more of the plurality of dots projected on to the scene; the method being characterised in that it further comprises : determining a first corrected intensity profile, based on the determined depth map, for one or more portions of the captured structured light image corresponding to the detected dots; and calculating an additional intensity profile for at least one additional portion of the captured structured light image based on the determined first corrected intensity profile, the combined first corrected intensity profile and additional intensity profile comprising a reflectivity map, wherein a ratio of pixels associated with a dot from the plurality of dots to pixels not associated with a dot from the plurality of dots is about 1.0 or less, or wherein a ratio of pixels associated with a detected dot to pixels not associated with a detected dot, in at least one of a vertical direction and a horizontal direction, is about 0.5 or less. determining a first corrected intensity profile, based on the determined depth map, for one or more portions of the captured structured light image corresponding to the detected dots; and calculating an additional intensity profile for at least one additional portion of the captured structured light image based on the determined first corrected intensity profile, the combined first corrected intensity profile and additional intensity profile comprising a reflectivity map, wherein a ratio of pixels associated with a dot from the plurality of dots to pixels not associated with a dot from the plurality of dots is about 1.0 or less, or wherein a ratio of pixels associated with a detected dot to pixels not associated with a detected dot, in at least one of a vertical direction and a horizontal direction, is about 0.5 or less. <EOS>