Numerous camera sensors have been recently proposed to estimate depth of objects in the scene. However, many of these sensors either require multiple imaging elements or an active illuminant. In this paper, we propose a new depth camera termed Offset Aperture (OA) camera which provides depth of the scene with a single shot without an active illuminant. The camera is based on a 4-color sensor which senses the infrared (IR) signal along with the visible RGB signals. Separate offset apertures are used for IR and RGB images. A depth-dependent disparity is generated between the IR and RGB images. There is no disparity across the R, G and B channel images which allows the RGB image to be well-aligned. Numerous techniques are used in this work to observe good quality depth-maps and images. Leakage compensation has been proposed to remove crosstalk between the IR and RGB images. A comparison with another 4-color sensor called Dual Aperture camera shows that OA camera provides 88color quality on average. The proposed OA camera can be used for numerous applications including occlusion handling in stereo, selective focus and night vision. The advantages of the proposed OA camera include competitive image quality, capability of depth extraction, well-aligned RGB images and small footprint of the camera, which make OA camera a suitable candidate for mobile applications.