An imaging system is configured to use an array of time-of-flight (ToF) pixels to determine depth information using the ToF imaging method and/or the stereo imaging method. A light emitting component emits light to illuminate a scene and a light detecting component detects reflected light via the array of ToF pixels. A ToF pixel is configured to determine phase shift data based on a phase shift between the emitted light and the reflected light, as well as intensity data based on an amplitude of the reflected light. Multiple ToF pixels are shared by a single micro-lens. This enables multiple offset images to be generated using the intensity data measured by each ToF pixel. Accordingly, via a configuration in which multiple ToF pixels share a single micro-lens, depth information can be determined using both the ToF imaging method and the stereo imaging method.