Abstract: Aspects of the method, apparatus, non-transitory computer readable medium, and system include obtaining first sensor data and second sensor data. The aspects further include processing the first sensor data using a first processing mode to obtain first image data, wherein the first processing mode is based on a first pixel pattern. The aspects further include processing the second sensor data using a second processing mode to obtain second image data, wherein the second processing mode is based on a second pixel pattern different from the first pixel pattern, and generating an image by combining the first image data and the second image data.