1. A method for depth acquisition from density modulated binary patterns, comprising: capturing a plurality of images for a scene using an IR camera and a plurality of IR lasers comprising diffraction grates, wherein each of the plurality of images comprises a density modulated binary pattern carrying phase information; and performing pixel based phase matching for the plurality of images to determine depth data for the scene based on the phase information carried by the density modulated binary patterns, the density modulated binary patterns comprising a number of light spots based on a sinusoidal function.