Illumination modules that emit structured light

A depth camera system, comprising:

• an illumination module configured to output structured light that illuminates a capture area;
• and
• an image detector module configured to capture an image of the structured light as reflected from one or more objects within the capture area;
• the illumination module including
• a VCSEL array comprising a plurality of vertical cavity surface emitting lasers (VCSELs), wherein each of the VCSELs is configured to emit a separate beam of light, and wherein the plurality of VCSELs are configured to collectively emit a light pattern;
• and
• projection optics configured to receive the light pattern emitted by the VCSELs of the VCSEL array and project the light pattern;
• wherein the structured light output by the illumination module is created at least in part based on the light pattern projected by the projection optics;
• wherein the projection optics include
• a field lens that is positioned adjacent the VCSEL array and configured to receive the beams of light emitted by the VCSELs of the VCSEL array and converge the beams to a single pupil;
• and
• an objective lens that is positioned adjacent the field lens at the single pupil and configured to receive the converged beams from the field lens and diverge the beams to produce the light pattern projected by the projection optics.