1. A camera comprising: an image sensor comprising a Bayer color filter array; and a processor for receiving a Bayer image of red, green and blue pixels from the image sensor and mapping each of the colors from an input space to an output space in accordance with the following: x ′ = ⁢ ( x mps ) + k 1 y ′ = ⁢ ( y mps ) + k 2 where: x,y is the coordinate in the output space, x′y′ is the coordinate in the input space; mps is the number of pixels in the output space per input space sample, and k 1, 2 are either 0 or −0.5 depending on the color and the desired relative rotational orientation of the image.