Methods, systems, and computer program products to obtain a color image from a color filter array, such as, for example, a color filter array comprising a Bayer pattern. A method of image processing includes, for each pixel location (i,j) and for each color channel in a color image, determining a warped location (i′,j′) in a color filter array, and determining a color value of the color channel at location (i′,j′) in the color filter array. The method may further include storing the determined color value. The determining of the color value may include interpolating the color value of the color channel at location (i′,j′) in the color filter array. In this manner, a single interpolation operation set may be needed and an intermediate image may be avoided, saving memory, reducing processing time, minimizing artifacts, and reducing cost.