Image capturing device

An image capturing device comprising:

• a camera platform mechanism;
• a lens mechanism;
• and
• a controller having
• image capturing circuitry to perform analog to digital conversion on an image transmitted from the lens mechanism,
• image inputting circuitry to perform image processing on a digital signal transmitted from the image capturing circuitry,
• a memory to record an image processed by the image inputting circuitry,
• inclination detecting circuitry to detect an inclination from a reference position and outputting the inclination as angle data,
• feature point extracting circuitry to extract, on a basis of both a reference position image and a current position image, respective feature points,
• amount of deviation calculating circuitry to calculate an inclination angle on a basis of the angle data, and calculate an amount of deviation in pixels on a basis of the feature points,
• correcting method determining circuitry to, when it is determined that the inclination angle is within a range in which the angle can be corrected, the range being equal to or greater than a lower limit and equal to or less than an upper limit, provide an instruction to compare a processing time required to make a correction to the inclination angle and then make a correction to make a fine adjustment to an inclination of an angle of view and a processing time required to make only a correction to make a fine adjustment to the inclination of the angle of view, and select a correcting method which provides a shorter one of the processing times, whereas when the inclination angle is less than the lower limit, provide an instruction to make a correction to make a fine adjustment to the inclination of the angle of view, and
• pan tilt zoom operating circuitry to control the camera platform mechanism and the lens mechanism on a basis of the instruction of the correcting method determining circuitry.