A digital imaging system and method of image data processing are provided. The system includes a main lens configured to focus light from a field of view for a plurality of depths of field and project a plurality of intermediary images representing the depths of field. An image sensor assembly is in a spaced relationship with the main lens and includes a light sensors grouped into sensor sub-arrays. An intermediate microlens array is disposed between the main lens and the image sensor assembly and includes intermediate micro lenses adjacent to and abutting one another to focus the intermediary images onto one of the sensor sub-arrays from a different perspective than another adjacent micro lens. A control unit captures and stores image data associated with the intermediary images and creates a three-dimensional depth map. The control unit also calculates distance information of objects to detect a gesture or obstacle.