The invention provide a shape measuring device, a shape measuring method, and a shape measuring program capable of clearly observing a surface state of a measuring object while measuring a shape of the measuring object at high accuracy. Light irradiated by a light projecting unit is reflected by a measuring object and received by a light receiving unit. Stereoscopic shape data of the measuring object is generated by a triangular distance measuring method. The light irradiated by the light projecting unit is reflected by the measuring object and received by the light receiving unit. All-focus texture image data of the measuring object is generated by synthesizing texture image data of a plurality of portions of the measuring object while changing a focus position of the light receiving unit. The stereoscopic shape data and the all-focus texture image data are synthesized to generate synthesized data.