| 摘要 |
The present invention provides an imaging device and an imaging method capable of calculating an angle formed by the imaging direction of the imaging device and the normal direction of a plane of an inspection target and can appropriately control the imaging direction of the imaging device with respect to the inspection target, even if the posture of the imaging device is unknown. In an embodiment of the present invention, a first image and a second image, which have a parallax due to an imaging unit (202) having a first imaging unit (202A) and a second imaging unit (202B), are acquired, and on the basis of the acquired first image and the second image, the angle formed by the imaging direction of the imaging unit (202) and the normal direction of a plane of the inspection target which has a flat surface is calculated. In the imaging unit (202), pan tilt is controlled by a pan tilt control unit (210), and when the calculated angle is controlled to an angle within an allowable angle range, an inspection image which shows the inspection target is imaged, and the inspection image acquired by the imaging unit. |
