An imaging device includes an image sensor and an image processor. The image sensor includes an array of pixels. At least one pixel in the array of pixels includes an array of phase disparity subpixels. The array of pixels includes a set of filter elements arranged in a filter pattern, with different subsets of pixels receiving light through different types of filter elements in the set of filter elements. The image processor is configured to receive values measured by at least the phase disparity subpixels; estimate phase disparities between the received values; generate, using the estimated phase disparities, a set of corrected values for the phase disparity subpixels; and generate, using the set of corrected values for the phase disparity subpixels, a set of demosaiced values for each image plane in a set of image planes. Each image plane is associated with a different type of filter element in the set of filter elements.