A three-dimensional time-of-flight (3D TOF) camera having a micro lens (ML) array configured with variable ML height and variable ML shift. The ML array includes micro lens that are configured to direct backscattered light that is transmitted through an image lens into corresponding pixels. Heights of individual micro lenses within the ML array vary according to image height. For example, the height of micro lenses at the center of the ML array, near the axis of the image lens, may be relatively larger than the height of other micro lenses toward the perimeter of the ML array. Furthermore, the shift of individual micro lenses with respect to corresponding pixels may also vary according to the image height. For example, the shift of micro lenses at the center of the ML array may be relatively smaller than the shift of the other micro lenses toward the perimeter of the ML array.