A linear division-of-focal-plane camera combined with a controllable polarization modulator constitutes a versatile full-Stokes imager with four possible sampling rate modes, depending on the number of acquisitions. Considering several polarization modulator architectures, we determine the parameter settings that minimize estimation variance in each sampling rate mode, so that precision, sampling rate, and acquisition time can be optimally and dynamically balanced to implement the imaging solution best adapted to a given application.