A camera includes a single lens configured to receive an optical image as two images from two viewing angles. The two images from respective viewing angles are converted into two orthogonally modulated images, each of the orthogonally modulated images corresponding to a different one of the two viewing angles. An image detector is configured to distinguishably detect the two orthogonally modulated images in a single frame. An image processor is configured to decode the two orthogonally modulated images in the single frame into two video signals corresponding to the two viewing angles. A method of imaging includes receiving an optical image from two viewing angles; converting the optical image into two orthogonally modulated images, each of the orthogonally modulated images corresponding to a different one of the viewing angles; distinguishably detecting in an image detector the two orthogonally modulated images in a single frame; and decoding in an image processor the two orthogonally modulated images in the single frame into two video output signals corresponding to the two viewing angles.