Method for optimizing privacy mask of camera with panning and tilting control and imaging device with privacy mask optimization applied

An imaging device, comprising:

• a camera configured to support panning and/or tilting motions, wherein a rotation axis of the camera and a center of a lens of the camera do not match;
• a memory configured to store instructions for creating a privacy mask in an image imaged by the camera;
• and
• at least one processor configured to execute the instructions to:
• imaging an object in a first imaging condition;
• create a first mask for the object in the first imaging condition and store a position of the first mask in the image and a distance from the camera to the object;
• changing an imaging angle of the camera from the first imaging condition to a second imaging condition such that a position of the lens in the second imaging condition is reversed around the rotation axis from a position of the lens in the first imaging condition after at least a panning motion and a tilting motion of the camera;
• create a second mask for the object in the second imaging condition;
• and
• correct a position of the second mask based on the position of the first mask, the distance from the camera to the object, and the distance between the rotation axis of the camera and the center of the lens.