In an imaging device that includes an imaging lens including n number of optical systems of which imaging characteristics are different and an image sensor including m number of light receiving sensors of which combinations of crosstalk ratio and light sensitivity are different in each pixel, m number of primary image data items are generated by obtaining image signals output from the light receiving sensors of each pixel of the image sensor, and n number of secondary image data items corresponding to the optical systems are generated by performing crosstalk removal processing on the m number of generated primary image data items for each pixel. In a case where a pixel as a processing target includes the primary image data of which a pixel value is saturated, the secondary image data items are generated by removing the corresponding primary image data and performing the crosstalk removal processing.