1. An image processing apparatus, comprising: a three-dimensional image pickup part that includes a projecting part that projects a pattern, a first image pickup part that picks up an intensity image and a projection pattern image from the direction of an optical axis of the projecting part, and a second image pickup part that picks up the projection pattern image from a direction different from the optical axis of the projecting part, the three-dimensional image pickup part creating first range information based on a pattern picked up by the second image pickup part; and a geometric transformation part that performs geometric transformation for the intensity image picked up by the first image pickup part, based on the first range information.