A camera-based photoacoustic remote sensing system (C-PARS) for imaging a subsurface and deep structures in a sample, has an excitation beam configured to generate ultrasonic signals in the sample at an excitation location; an interrogation beam incident on the sample at the excitation location, a portion of the interrogation beam returning from the sample that is indicative of the generated ultrasonic signals; a camera to map the returning portion of the interrogation beam over the entire field of view.