A stereo picture generating device includes: a feature point extracting unit that extracts feature points from a first picture; a tracking unit that calculates coordinate of each point on a second picture corresponding to each of the feature points; a parameter determining unit that determines plane projective transformation coefficients which include at least one coefficient representing a rotational transfer component and at least one coefficient representing a translation component so as to minimize an evaluation value that includes distance between each of transformed feature points, which are obtained by plane-projective-transforming the feature points on the first picture, and the corresponding point on the second picture, and a weighting term having a value depending on the rotational transfer component; and a transforming unit that plane-projective-transforms the first picture by using the plane projective transformation coefficients, to generate a pair of plane-projective-transformed picture and the second picture as a stereo picture.