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Multispectral imaging is valuable in many vision-related fields as it provides an additional modality to observe the world. Cameras equipped with multispectral filter arrays (MSFAs) are typically impractical for everyday use due to their intractable demosaicking and chromatic reproduction processes, which restrict their applicability beyond academic research. In this work, a novel MSFA design is proposed to enable dual-mode imaging for multispectral cameras. In addition to a conventional multispectral image, the camera is also able to produce a Bayer-formed RGB image from a single shot by grouping and merging adjacent pixels in the proposed MSFA, making it suitable for scenarios where display-ready RGB images are required. Furthermore, a two-stage optimization scheme is implemented to jointly optimize objective functions for both imaging modes. The evaluation results on multiple datasets suggest that the proposed MSFA design is able to simultaneously achieve competitive spectral reconstruction accuracy compared to elaborate multispectral cameras and chromatic accuracy compared to commercial RGB cameras. [ABSTRACT FROM AUTHOR]