1. A printing device that acquires three-dimensional information on at least one printing subject having a three-dimensional shape and prints a predetermined printing image as a two-dimensional image on the at least one printing subject, the printing device comprising: a table that allows the at least one printing subject to be placed thereon; a projector that projects a predetermined pattern to the at least one printing subject placed on the table; an image generator that captures an image of the at least one printing subject having the predetermined pattern projected thereon; a three-dimensional information acquirer that acquires a spatial code image from the image captured by the image generator and acquires the three-dimensional information on the at least one printing subject from the acquired spatial code image; a recognizer that recognizes a position and a posture of each of the at least one printing subject from the acquired three-dimensional information; a disposer that disposes the printing image on each of the at least one printing subject in accordance with the position and the posture thereof; and a printing data generator that generates printing data representing the printing image disposed by the disposer.