To easily process model information or information from which the model information is generated, provided is an imaging device including: an imager that images an object from a predetermined viewpoint; a distance measurer that measures distances from the predetermined viewpoint to points on the object; an object data generator that uses an image taken by the imager and measurement results of the distance measurer to generate object data in which unit data including pairs each having a pixel value in the taken image and a distance from a point on the object corresponding to the pixel value to the predetermined viewpoint is arranged in a first arrangement order; and a point cloud data generator that calculates positional information on points on the object based on the object data and arranges point data including the positional information in the first arrangement order to generate point cloud data.