System, method and computer program product to project light pattern

A depth sensing system, comprising:

• a light source;
• a diffractive optical element (“DOE”) configured to receive light from the light source and produce a bi-dimensional structured light pattern comprising a plurality of feature types, wherein:
• each feature type is formed by a unique formation of feature elements,
• the plurality of features types comprise a plurality of feature type pairs comprising a first feature type and a second feature type, and
• in each feature type pair of the plurality of feature type pairs:
• a second feature type is arranged at a 180° rotational transformation around a certain point with respect to the first feature type, and
• a coding value of a feature element of the second feature type is an inverse of a coding value of a corresponding feature element, under the 180° rotational transformation, of the first feature type;
• a sensor configured to capture an image of a reflected portion of a projection of the bi-dimensional structured light pattern;
• and
• at least one processor configured to process the image and to compute depth parameters based on appearance in the image of the bi-dimensional structured light pattern.