There is provided a system and method for optimizing depth imaging. The method including: illuminating one or more scenes with illumination patterns; capturing one or more images of each of the scenes; reconstructing the scenes; estimating the reconstruction error and a gradient of the reconstruction error; iteratively performing until the reconstruction error reaches a predetermined error condition: determining a current set of control vectors and current set of reconstruction parameters; illuminating the one or more scenes with the illumination patterns governed by the current set of control vectors; capturing one or more images of each of the scenes while the scene is being illuminated with at least one of the illumination patterns; reconstructing the scenes from the one or more captured images using the current reconstruction parameters; and estimating an updated reconstruction error and gradient; and outputting at least one of control vectors and reconstruction parameters.
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