An imaging device is provided that includes an image blur evaluator, an imaging processor, a distance map generator and a filter. The image blur evaluator evaluates the amount of blurring due to a camera shake. The imaging processor captures a plurality of secondary images of the same object at different lens positions by driving a photographing lens. The distance map generator prepares a distance map including distance information of the objects captured in each area of an image based on the contrast in each of the areas. The filter reduces noise in the distance map. A relatively large filter size is selected for the filter when blurring is evaluated to be relatively large and a relatively small filter size is selected for the filter when the evaluated blurring is relatively small.