In a method of generating output color signals (Ro, Go, Bo) and determining a contour signal (cont) from a sensor signal (RGBin) obtained by a sensor having a color filter with alternately colored filter elements, the sensor signal (RGBin) is delayed (1H) over at least one row period; for each color, zero values are inserted at locations corresponding to the locations of differently colored filter elements; a plurality of mutually at least one row-delayed color signals (nxG, nxR, nxB) with inserted zeros is furnished; the plurality of mutually at least one row-delayed color signals (nxG, nxR, nxB) with inserted zeros is filtered (FR, FG, FB) to obtain the output color signals (Ro, Go, Bo), and the plurality of mutually at least one row-delayed color signals (nxG, nxR, nxB) with inserted zeros is filtered (Fcont) to obtain the contour signal (cont).