1. An imaging device comprising: a first pixel array arranged to capture a first image; a second pixel array arranged to capture a second image; a third pixel array arranged to capture a third image; a fourth pixel array arranged to capture a fourth image, wherein the first, second, third, and fourth pixel array are facing the same direction; a filter system that includes a color filter corresponding to the first pixel array and a color filter corresponding to the third pixel array, wherein the first and third pixel array receive image light through a respective color filter, and wherein the second and fourth pixel array do not receive image light through any color filter; a lens system configured to focus image light onto the first pixel array and the second pixel array from a same first focus distance and configured to focus the image light onto the third pixel array and the fourth pixel array from a same second focus distance different from the first focus distance; shutter control circuitry coupled to the first pixel array to initiate a first exposure period of the first pixel array to capture the first image and coupled to the second pixel array to initiate a second exposure period of the second pixel array to capture the second image, and wherein the shutter control circuitry is coupled to initiate a third exposure period of the third pixel array to capture the third image and coupled to initiate a fourth exposure period of the fourth pixel array to capture the fourth image; and an image processor and memory for receiving first pixel data of the first image, second pixel data of the second image, third pixel data of the third image, and fourth pixel data of the fourth image, wherein the image processor is configured to generate at least one image using the first pixel data, the second pixel data, the third pixel data, and the fourth pixel data.