An imaging device includes: an optical system having a lens and a diaphragm; an image sensor having a first pixel and a second pixel which a light that has passed through the optical system enters; and an optical element array positioned between the optical system and the image sensor, the optical system has an optical filter including a first region and a second region having different optical characteristics, the optical element array makes the light that has passed through the first region enter the first pixel and makes the light that has passed through the second region enter the second pixel, and an entrance pupil of the optical system is located between the diaphragm and an object.