Image processing device

An image processing device, comprising:

• a rotation processor configured to make rotation processing including rotating a first left image and a first right image included in a stereo image, to generate a second left image and a second right image;
• a parallax image generator configured to calculate, on a basis of the second left image and the second right image, a left image point in the second left image and a right image point in the second right image, to generate a parallax image, the left image point and the right image point corresponding to each other;
• and
• a rotation controller configured to obtain a coordinate point, to calculate, on a basis of the coordinate point, an amount of angular change in a rotation angle in the rotation processing, the coordinate point indicating relation of a first positional difference in a horizontal direction and a second positional difference in a vertical direction, between a first position and a second position, the first position being a position of the left image point in the second left image, and the second position being a position of the right image point in the second right image,
• wherein the rotation controller is configured to obtain the coordinate point on a basis of each of a plurality of the stereo images, and set the amount of angular change on a basis of a plurality of the coordinate points, and
• wherein the rotation controller is configured to calculate an approximate line to the plurality of the coordinate points, with the plurality of the coordinate points arranged relative to a first direction and a second direction, the first direction referring to the first positional difference, and the second direction referring to the second positional difference, to calculate the amount of angular change on a basis of a slope value of the approximate line.