An imaging device comprising: a plurality of transmitters including: a first transmitter configured to transmit a structured light pattern focused at a first distance and having a first depth of field , and a second transmitter configured to transmit a second structured light pattern focused at a second distance , and having a second depth of field , wherein the second depth of field is wider than the first depth of field ; a receiver configured to: focus within the first depth of field at the first distance to capture a first image of a scene, the first image representing the first structured light pattern, and focus within the second depth of field at the second distance to capture a second image of the scene, the second image representing the second structured light pattern, wherein the second distance is different than the first distance; and an electronic hardware processor configured to generate a depth map of the scene based on the first image or the second image by evaluating a quality level of depth information associated with each image wherein the quality level of depth information associated with each image is based on an amount of depth information or an amount of corrupted or an amount of missing depth information associated with each image; and generating the depth map using the image having the highest quality level. a plurality of transmitters including: a first transmitter configured to transmit a structured light pattern focused at a first distance and having a first depth of field , and a second transmitter configured to transmit a second structured light pattern focused at a second distance , and having a second depth of field , wherein the second depth of field is wider than the first depth of field ; a first transmitter configured to transmit a structured light pattern focused at a first distance and having a first depth of field , and a second transmitter configured to transmit a second structured light pattern focused at a second distance , and having a second depth of field , wherein the second depth of field is wider than the first depth of field ; a receiver configured to: focus within the first depth of field at the first distance to capture a first image of a scene, the first image representing the first structured light pattern, and focus within the second depth of field at the second distance to capture a second image of the scene, the second image representing the second structured light pattern, wherein the second distance is different than the first distance; and focus within the first depth of field at the first distance to capture a first image of a scene, the first image representing the first structured light pattern, and focus within the second depth of field at the second distance to capture a second image of the scene, the second image representing the second structured light pattern, wherein the second distance is different than the first distance; and an electronic hardware processor configured to generate a depth map of the scene based on the first image or the second image by evaluating a quality level of depth information associated with each image wherein the quality level of depth information associated with each image is based on an amount of depth information or an amount of corrupted or an amount of missing depth information associated with each image; and generating the depth map using the image having the highest quality level. <EOS>