A light-projecting device includes a light source that emits a light, and a scanner that performs a first scan of the light in a first direction and a second direction opposed to the first direction, and performs a second scan of the light in a direction orthogonal to the first direction. The scanner performs the second scan while the scanner is swinging in a first angle range when the scanner performs the first scan in the first direction. The scanner performs the second scan while the scanner is swinging in a second angle range that is greater than the first angle range when the scanner performs the first scan in the second direction.