An imaging device comprises: an image sensor to convert an optical image captured in light receiving elements arranged in an array on an imaging surface into sensor signals and output the sensor signals; a modulator provided on a light receiving surface of the image sensor and to modulate light by using a first grating pattern; an exposure control unit to determine an exposure condition based on the sensor signals, change a set exposure condition to the determined exposure condition, and control exposure in accordance with the changed exposure condition; and an image processing unit to generate a second grating pattern corresponding to the first grating pattern, generate a moiré fringe image based on the second grating pattern and the sensor signals, and generate a photographed image based on the moiré fringe image. The exposure condition includes an exposure time of the image sensor and a transmittance of the modulator.