Information processing apparatus that performs three-dimensional shape measurement with high accuracy at high speed while taking into account lens distortion of a projection device. An image input unit of an information processing apparatus inputs image data of a measurement object photographed by a camera in a state where a predetermined pattern light is projected by a projector. An association unit calculates associations between coordinates on the image data of the measurement object and coordinates on image data of the predetermined pattern light. A three-dimensional coordinate calculation unit calculates a viewing vector of the camera from which lens distortion thereof has been eliminated and a viewing vector of the projector to which lens distortion thereof has been added. The calculation unit calculates coordinates of a point, in a three-dimensional space, of intersection between the camera viewing vector and the projector viewing vector, for each association.