A data input unit is configured to receive an input image, depth data and a shooting parameter. A parameter input unit receives a transformation parameter as a parameter on projective transformation of a three-dimensional model, a transformed image generating unit that generate a transformed image by performing projective transformation based on the transformation parameter in the three-dimensional model obtained from the input image, the depth data, and the shooting parameter. A blank area detecting unit detects a blank area in the transformed image, the blank area being a group of blank pixels having no corresponding pixel in the input image, and an output unit is configured to output the transformed image in the case where a blank value indicating size of the blank area is smaller than or equal to a threshold value.