For example, in order to enable an RCCB sensor or a specific optical system to perform an appropriate image correction process (distortion correction and the like), an imaging device includes an imaging element, an optical system configured to form an image on an imaging surface of the imaging element and has a characteristic in which an image formation magnification differs depending on a position in the imaging surface, a demosaic unit configured to generate color image data of at least two colors from the data output from the imaging element, and a distortion correction unit configured to correct distortion of the color image data of at least two colors generated by the demosaic unit.