Downhole imaging systems and methods are disclosed herein. An example method includes projecting flushing fluid into an optical field of view of an imaging system disposed on a downhole tool. The example method also includes directing a pattern of light onto a target in the optical field of view via a light source of the imaging system and determining three-dimensional shape information of the target based on the light directed from the target and received via an image detection plane of the imaging system. The example method further includes determining a characteristic of the target based on the three-dimensional shape information.