A three dimensional time of flight (TOF) camera includes a transmitter and a receiver. The transmitter is configured to generate an electrical transmit signal at a plurality of frequencies over an integration time period and generate a transmit optical waveform corresponding with the electrical transmit signal. The receiver is configured to receive a reflected optical waveform that is the transmit optical waveform reflected off of an object, integrate the reflected optical waveform over the integration time period, and determine a distance to the target object based on a TOF of the optical waveform. The integration time period includes exposure time periods. A length of each of the exposure time periods corresponds to one of the frequencies. The TOF is determined based on a correlation of the electrical transmit signal and the return optical waveform utilizing a correlation function with respect to the integration time period.