Abstract: The invention relates to a camera (130) for detecting objects (192), the camera (130) comprising (a) an illumination device (240) for illuminating an object (192) which is located in an object plane (230a) of the camera (130); and (b) a camera sensor (285) for capturing an image of the object (192) illuminated by the illumination device (240). The illumination device (240) has (a1) a first illumination structure (350) with a plurality of first light sources (351) for illuminating the object (192) with a first illumination light (352) at a first illumination angle; (a2) a second illumination structure (360) having a plurality of second light sources (361) for illuminating the object (192) with a second illumination light (362) at a second illumination angle that is different from the first illumination angle; and (a3) an optical lens array (354) with a plurality of individual lenses (355) for collimating the first illumination light (352) and for collimating the second illumination light (362).