A continuous wave time of flight 2. CW-TOF camera operable to determine distances to features in a scene, the CW-TOF camera comprising: a light source operable to transmit light to illuminate the scene; a photosensor having a plurality of pixels configured to register amounts of light reflected from the transmitted light by features in the scene; and a controller configured to: control the light source to modulate structured light at a modulation frequency to illuminate the scene with a structured illumination pattern; and for each combination of a sampling phase offset of a plurality of different sampling phase offsets (ψ k) and a perturbation phase shift (λ n) of a plurality of different perturbation phase shifts: modulate sensitivity of the photosensor at the frequency of modulation of the transmitted light but phase shifted relative to phase of the transmitted light by a phase equal to a sum of the sampling phase offset and the perturbation phase shift; for each value of the sum modulo 360 o, turn on the photosensor for a different exposure period to register light reflected by the features; and determine distances to the features based on the light registered by the pixels. a light source operable to transmit light to illuminate the scene; a photosensor having a plurality of pixels configured to register amounts of light reflected from the transmitted light by features in the scene; and a controller configured to: control the light source to modulate structured light at a modulation frequency to illuminate the scene with a structured illumination pattern; and for each combination of a sampling phase offset of a plurality of different sampling phase offsets (ψ k) and a perturbation phase shift (λ n) of a plurality of different perturbation phase shifts: modulate sensitivity of the photosensor at the frequency of modulation of the transmitted light but phase shifted relative to phase of the transmitted light by a phase equal to a sum of the sampling phase offset and the perturbation phase shift; for each value of the sum modulo 360 o, turn on the photosensor for a different exposure period to register light reflected by the features; and determine distances to the features based on the light registered by the pixels. control the light source to modulate structured light at a modulation frequency to illuminate the scene with a structured illumination pattern; and for each combination of a sampling phase offset of a plurality of different sampling phase offsets (ψ k) and a perturbation phase shift (λ n) of a plurality of different perturbation phase shifts: modulate sensitivity of the photosensor at the frequency of modulation of the transmitted light but phase shifted relative to phase of the transmitted light by a phase equal to a sum of the sampling phase offset and the perturbation phase shift; for each value of the sum modulo 360 o, turn on the photosensor for a different exposure period to register light reflected by the features; and determine distances to the features based on the light registered by the pixels. modulate sensitivity of the photosensor at the frequency of modulation of the transmitted light but phase shifted relative to phase of the transmitted light by a phase equal to a sum of the sampling phase offset and the perturbation phase shift; for each value of the sum modulo 360 o, turn on the photosensor for a different exposure period to register light reflected by the features; and determine distances to the features based on the light registered by the pixels.