1. An imaging apparatus, comprising: a time-of-flight (TOF) system configured to determine a distance to a target object and determine a reflectance of the target object; a flash circuit configured to emit a pre-flash and a main flash to illuminate the target object; and a processor in communication with the TOF system and the flash circuit, the processor configured to: determine a first exposure level based on the distance to the target object and the reflectance of the target object, control the flash circuit to emit the pre-flash at an output level based on the first exposure level, determine a second exposure level of the target object based on the illumination of the target object by the pre-flash, control the flash circuit to emit the main flash, the main flash having an output level based on the second exposure level, and control a camera of the imaging apparatus to capture an image of the target object while the target object is illuminated by the main flash.