An image pickup apparatus according to one aspect of the invention includes: an imaging lens configured to perform a phase modulation function to extend a depth of field; a color image pickup element configured to convert an optical image which passes through the imaging lens and is formed on the image pickup element into an electric signal, the image pickup element having primary filters of three primary colors arranged for respective pixels in a predetermined pattern; and a restoration processing device configured to perform filtering processing using a single restoration filter on color signals corresponding to the primary filters of the three primary colors outputted from the color image pickup element, the restoration filter being an inverse function of a point spread function obtained when the phase modulation is performed by the imaging lens.