A multimode waveguide illuminator and imager relies on a wave front shaping system that acts to compensate for modal scrambling and light dispersion by the multimode waveguide. A first step consists of calibrating the multimode waveguide and a second step consists in projecting a specific pattern on the wave guide proximal end in order to produce the desire light pattern at its distal end. The illumination pattern can be scanned or changed dynamically only by changing the phase pattern projected at the proximal end of the waveguide. The third and last step consists in collecting the optical information, generated by the sample, through the same waveguide in order to form an image. Known free space microscopy technique can be adapted to endoscopy with multimode waveguide, such as, but not limited to, fluorescence imaging or Raman spectros copy or imaging, 3D linear scattering imaging or two-photon imaging. Super-resolution, i.e., resolution below the diffraction limit, is achieved for example but not limited to, using the STimulated Emission Depletion microscopy (STED) technique or the Structured Illumination Microscopy (SIM) technique or a stochastic illumination based method (PALM, STORM) in combination with the multimode waveguide imaging method.