A method for capturing video frames, comprising: obtaining a depth-data frame of an environment using a depth-sensing camera of a camera system, wherein the depth-sensing camera is equipped with an infrared illuminator, and wherein the environment is illuminated by an illumination pattern emitted by the infrared illuminator; obtaining, an infrared illuminator parameterization for the illumination pattern emitted by the infrared illuminator; making a determination that a lighting condition in the environment requires a video camera of the camera system to rely on light provided by the infrared illuminator; based on the determination: deactivating an infrared cut filter of the video camera; obtaining a desired frame exposure time, based on a desired frame exposure, wherein obtaining the desired frame exposure comprises one selected from a group consisting of: determining the desired frame exposure based on a desired average exposure of the frame, and determining the desired frame exposure based on a desired exposure of an object in the frame, wherein the object is determined based on data from the depth-sensing camera; determining, based on the infrared illuminator parameterization and the desired frame exposure time, an actual frame exposure time; and after determining the actual frame exposure time, obtaining a frame of the environment using the actual frame exposure time using the infrared illuminator with the illumination pattern. obtaining a depth-data frame of an environment using a depth-sensing camera of a camera system, wherein the depth-sensing camera is equipped with an infrared illuminator, and wherein the environment is illuminated by an illumination pattern emitted by the infrared illuminator; obtaining, an infrared illuminator parameterization for the illumination pattern emitted by the infrared illuminator; making a determination that a lighting condition in the environment requires a video camera of the camera system to rely on light provided by the infrared illuminator; based on the determination: deactivating an infrared cut filter of the video camera; obtaining a desired frame exposure time, based on a desired frame exposure, wherein obtaining the desired frame exposure comprises one selected from a group consisting of: determining the desired frame exposure based on a desired average exposure of the frame, and determining the desired frame exposure based on a desired exposure of an object in the frame, wherein the object is determined based on data from the depth-sensing camera; deactivating an infrared cut filter of the video camera; obtaining a desired frame exposure time, based on a desired frame exposure, wherein obtaining the desired frame exposure comprises one selected from a group consisting of: determining the desired frame exposure based on a desired average exposure of the frame, and determining the desired frame exposure based on a desired exposure of an object in the frame, wherein the object is determined based on data from the depth-sensing camera; determining the desired frame exposure based on a desired average exposure of the frame, and determining the desired frame exposure based on a desired exposure of an object in the frame, wherein the object is determined based on data from the depth-sensing camera; determining, based on the infrared illuminator parameterization and the desired frame exposure time, an actual frame exposure time; and after determining the actual frame exposure time, obtaining a frame of the environment using the actual frame exposure time using the infrared illuminator with the illumination pattern.