An imaging device having an imager that includes first pixels having sensitivity to a first light and second pixels having sensitivity to a second light, a wavelength of the first light being different from a wavelength of the second light. The imager being configured to acquire first image data from the first pixels and being configured to acquire second image data from the second pixels. Each of the first image data and the second image data including an image of a code, the code being configured to output the second light. The imaging device further including an image processor configured to extract an image of the code based on the first image data and the second image data.