An imaging device comprising: an imaging optical system including a wide-angle optical system and a telephoto optical system which are concentrically provided in different regions; a directional sensor that includes a plurality of pixels including photoelectric conversion elements which are two-dimensionally arranged, pupil-divides light beams which are incident through the wide-angle optical system and the telephoto optical system, and selectively receives the light beams; and an image acquisition unit that acquires a wide-angle image received from the directional sensor through the wide-angle optical system and a telephoto image received from the directional sensor through the telephoto optical system, wherein directions of imaging optical axes of the wide-angle optical system and the telephoto optical system of the imaging optical system are different from each other, wherein the telephoto optical system includes a plurality of telephoto optical systems which are provided in different regions, the directional sensor pupil-divides light beams which are incident through the plurality of telephoto optical systems and selectively receives the light beams, and directions of imaging optical axes of the plurality of telephoto optical systems are different from each other. an imaging optical system including a wide-angle optical system and a telephoto optical system which are concentrically provided in different regions; a directional sensor that includes a plurality of pixels including photoelectric conversion elements which are two-dimensionally arranged, pupil-divides light beams which are incident through the wide-angle optical system and the telephoto optical system, and selectively receives the light beams; and an image acquisition unit that acquires a wide-angle image received from the directional sensor through the wide-angle optical system and a telephoto image received from the directional sensor through the telephoto optical system, wherein directions of imaging optical axes of the wide-angle optical system and the telephoto optical system of the imaging optical system are different from each other, wherein the telephoto optical system includes a plurality of telephoto optical systems which are provided in different regions, the directional sensor pupil-divides light beams which are incident through the plurality of telephoto optical systems and selectively receives the light beams, and directions of imaging optical axes of the plurality of telephoto optical systems are different from each other. an image acquisition unit that acquires a wide-angle image received from the directional sensor through the wide-angle optical system and a telephoto image received from the directional sensor through the telephoto optical system, wherein directions of imaging optical axes of the wide-angle optical system and the telephoto optical system of the imaging optical system are different from each other, wherein the telephoto optical system includes a plurality of telephoto optical systems which are provided in different regions, the directional sensor pupil-divides light beams which are incident through the plurality of telephoto optical systems and selectively receives the light beams, and directions of imaging optical axes of the plurality of telephoto optical systems are different from each other.