An imaging device according to the present invention includes: image side non-telecentric imaging optics including a first lens 1, a second lens 2 which is entered by light having traveled through the first lens 1, and an imaging element 4 having an imaging plane 4i for detecting light having traveled through the second lens 2; a position changing section (a cam mechanism 6 and a motor 8) for, during an exposure time, respectively changing a first distance between the first lens 1 and the second lens 2 and a second distance between the second lens 2 and the imaging element 4; and a signal processing section 9 for generating an image by using an electrical signal which is output from the imaging element 4. The imaging element 4 converts light reaching the imaging plane 4i during the exposure time, during which the first distance and the second distance are changing, into an electrical signal.