There is provided a light receiving and emitting device including: a light receiving and emitting unit configured to have a plurality of pixels that receive light and perform photoelectric conversion through which an electric signal corresponding to an amount of the light is output and a plurality of light emitting units that emit light, the two or more light emitting units being disposed for every two or more pixels; an imaging optical system configured to form an image on the pixels of the light receiving and emitting unit; and a control unit configured to independently control light emission of the plurality of respective light emitting units.