Designing and constructing dot projectors for three-dimensional sensor modules

A method comprising:

• determining, for an optical dot projector having a plurality of light emitters, a relationship between locations of the plurality of light emitters with respect to a substrate of the optical dot projector and corresponding first locations of dots projected by the dot projector onto an imaging plane;
• determining, based on the relationship, an optical grating approximating one or more optical characteristics of one or more optical elements of the optical dot projector;
• determining second locations of dots corresponding to a replacement of the one or more optical elements of the optical dot projector by the optical grating;
• determining, based on the second locations of dots, modified locations of the plurality of light emitters with respect to the substrate to reduce a distortion in a spatial pattern of the dots projected by the dot projector;
• and
• constructing a plurality of optical dot projectors, each having a respective plurality of light emitters arranged according to the determined modified locations.