1. A method of obtaining distance data from a 2D (two-dimensional) image of a scene comprising one or more objects, said method comprising: projecting on the objects a coded light pattern comprising multiple appearances of a finite set of feature types, each feature type being distinguishable according to a unique bi-dimensional formation, such that a distance between adjacent epipolar lines associated with substantially identical appearances of any given feature type is minimized according to a limiting epipolar separation factor, giving rise to a plurality of distinguishable epipolar lines separated by approximately a minimum safe distance for epipolar line distinction; capturing a 2D image of the objects having the projected coded light pattern projected thereupon; and extracting reflected feature types according to the unique bi-dimensional formations and locations of the reflected feature types on respective epipolar lines in the 2D image.