A system comprising: a projector and at least one camera , wherein the projector is configured to project a light pattern towards a scene, the projector including a laser and a diffractive optical component, the diffractive optical component configured to output the light pattern as a plurality of sets of sub-patterns, each set corresponding to a different range of intensities, wherein the plurality of sets of sub-patterns comprise an initial grid layout comprising a first set of points forming an approximate regular polygon, wherein each point in the first set is associated with an intensity value that is within a first intensity range, and a second set of points forming an approximate regular polygon between subsets of points of the first set of points, wherein each point in the second set is associated with an intensity value that is within a second intensity range, wherein the approximate regular polygon of the first set of points and the approximate regular polygon of the second set of points are of the same type of polygon, wherein the diffractive optical component is configured to project a rotated pattern of the light pattern relative to an orientation of the at least one camera , wherein the at least one camera is configured to sense the light pattern as camera images, in which scanlines of the images are not aligned with the initial grid layout, wherein the points of the first and second set of points comprise points corresponding to positions that form the approximate regular polygons, based upon repositioning points of a substantially regular polygon with additional random repositioning of at least some points thereof, wherein at least one of the points that form a sub-pattern of the plurality of sets of sub-patterns is randomly or pseudo-randomly assigned an intensity value within a range of intensities associated with that sub-pattern, wherein the intensity values of the first intensity range and the second intensity range are different. a projector and at least one camera , wherein the projector is configured to project a light pattern towards a scene, the projector including a laser and a diffractive optical component, the diffractive optical component configured to output the light pattern as a plurality of sets of sub-patterns, each set corresponding to a different range of intensities, wherein the plurality of sets of sub-patterns comprise an initial grid layout comprising a first set of points forming an approximate regular polygon, wherein each point in the first set is associated with an intensity value that is within a first intensity range, and a second set of points forming an approximate regular polygon between subsets of points of the first set of points, wherein each point in the second set is associated with an intensity value that is within a second intensity range, wherein the approximate regular polygon of the first set of points and the approximate regular polygon of the second set of points are of the same type of polygon, wherein the diffractive optical component is configured to project a rotated pattern of the light pattern relative to an orientation of the at least one camera , wherein the at least one camera is configured to sense the light pattern as camera images, in which scanlines of the images are not aligned with the initial grid layout, wherein the points of the first and second set of points comprise points corresponding to positions that form the approximate regular polygons, based upon repositioning points of a substantially regular polygon with additional random repositioning of at least some points thereof, wherein at least one of the points that form a sub-pattern of the plurality of sets of sub-patterns is randomly or pseudo-randomly assigned an intensity value within a range of intensities associated with that sub-pattern, wherein the intensity values of the first intensity range and the second intensity range are different. <EOS>