A system and method are provided for reconstructing 3-D point cloud. A light source generates light that is received by a polarization field generator, which generates a polarization field that illuminates the target object being imaged such that each outgoing ray has a unique polarization state. A camera captures images of the illuminated target object and the captured images are received by a processor that: (1) performs a polarization field decoding algorithm that decodes the polarization field to obtain a set of incident rays; (2) performs a camera ray decoding algorithm to obtain a set of camera rays; (3) performs a ray-ray intersection algorithm that determines intersection points where the incident rays and the camera rays intersect; and (4) performs a 3-D reconstruction algorithm that uses the set of incident rays, the set of camera rays and the intersection points to reconstruct a 3-D point cloud of the target object.