A system for determining parameters for image acquisition, the system comprising: one or more image sensors (106A, 106B), wherein each image sensor (106A, 106B): is arranged to capture a set of images of a scene; and each image sensor (106A, 106B) comprises a set of adjustable imaging parameters; a projector configured to project a moving pattern on the scene, wherein the projector comprises a set of adjustable projector parameters; and a processor in communication with the one or more image sensors (106A, 106B) and the projector, wherein the processor is configured to determine, based on a set of one or more operational or thermal constraints associated with the projector: the set of adjustable projector parameters to control the projector to project the moving pattern on the scene, and the set of adjustable imaging parameters to control the one or more image sensors (106A, 106B) to capture the set of images of the moving pattern on the scene, characterised in that the processor is further configured to determine the set of adjustable projector parameters and the set of adjustable imaging parameters so as to reduce noise in 3D data generated based on the set of images below a noise threshold, wherein otherwise a portion of the 3D data includes one or more missing pixels due to the noise. one or more image sensors (106A, 106B), wherein each image sensor (106A, 106B): is arranged to capture a set of images of a scene; and each image sensor (106A, 106B) comprises a set of adjustable imaging parameters; is arranged to capture a set of images of a scene; and each image sensor (106A, 106B) comprises a set of adjustable imaging parameters; a projector configured to project a moving pattern on the scene, wherein the projector comprises a set of adjustable projector parameters; and a processor in communication with the one or more image sensors (106A, 106B) and the projector, wherein the processor is configured to determine, based on a set of one or more operational or thermal constraints associated with the projector: the set of adjustable projector parameters to control the projector to project the moving pattern on the scene, and the set of adjustable imaging parameters to control the one or more image sensors (106A, 106B) to capture the set of images of the moving pattern on the scene, characterised in that the processor is further configured to determine the set of adjustable projector parameters and the set of adjustable imaging parameters so as to reduce noise in 3D data generated based on the set of images below a noise threshold, wherein otherwise a portion of the 3D data includes one or more missing pixels due to the noise. the set of adjustable projector parameters to control the projector to project the moving pattern on the scene, and the set of adjustable imaging parameters to control the one or more image sensors (106A, 106B) to capture the set of images of the moving pattern on the scene, characterised in that the processor is further configured to determine the set of adjustable projector parameters and the set of adjustable imaging parameters so as to reduce noise in 3D data generated based on the set of images below a noise threshold, wherein otherwise a portion of the 3D data includes one or more missing pixels due to the noise.