1. A device comprising: an elastic material comprising a reflective membrane, wherein the reflective membrane conforms to a shape of an object pressed against the elastic material; two or more light sources situated at known positions proximate to the reflective membrane, wherein each light source of the one or more light sources is configured to illuminate at least a portion of the reflective membrane by emitting a corresponding color of light; an image capture device configured to capture at least one image of the reflective membrane, wherein the image capture device comprises: an image sensor configured to generate the at least one image based on light incident on the image sensor, wherein the image sensor comprises a plurality of photodetector groups separated by non-photoactive material, and wherein each photodetector group comprises a plurality of adjacent photodetectors arranged in a grid; a plurality of lenses configured to direct light onto the image sensor, wherein each lens of the plurality of lenses is configured to direct light onto a corresponding photodetector group of the plurality of photodetector groups, and wherein the plurality of lenses is arranged in a planar array situated directly between the elastic material and the image sensor such that the plurality of lenses is separated from the elastic material by free space; and a color filter array situated between the plurality of lenses and the image sensor, wherein the color filter array comprises a plurality of color filters corresponding to the colors of light emitted by the two or more light sources, wherein each respective color filter of the color filter array is configured to pass light of a given color onto a corresponding photodetector group of the plurality of photodetector groups such that each photodetector group has incident thereon light of a single color, and wherein the at least one image of the reflective membrane comprises two or more simultaneously-captured sub-images corresponding to the colors of light emitted by the two or more light sources, wherein a given sub-image of the two or more sub-images represents the reflective membrane illuminated by a single color of light; and processing hardware configured to generate a depth map of the reflective membrane based on the two or more sub-images corresponding to the colors of light emitted by the two or more light sources by way of one or more photometric stereo techniques.