1. A method of determining a quantization ensemble of quantizers for use in quantizing a signal for watermark embedding, the method implemented by a processor and comprising: a) for each watermark value, calculating a probability density function for signal points where the watermark value is to be embedded, b) based on the calculated probability density functions, formulating a distortion function and a robustness function for an ensemble of quantizers, c) selecting a given robustness or a given distortion for the distortion and robustness functions, d) if a given robustness is selected then: i) minimizing the distortion function for the given robustness, ii) determining an ensemble of quantizers with parameters that comply with the minimized distortion function, the given robustness, and the robustness function, e) and if a given distortion is selected then i) maximizing the robustness function for the given distortion, ii) determining an ensemble of quantizers that complies with the maximized robustness function, the given distortion, and the distortion function.