Provided is a shape measuring apparatus, a shape measuring method, and a program that can efficiently measure a three-dimensional shape of an object. The shape measuring apparatus includes an imaging unit, a distance image sensor unit, and a processing apparatus. The imaging unit acquires a two-dimensional image of an object over a plurality of frames. The distance image sensor unit acquires a distance image of the object over the plurality of frames. The processing apparatus detects a feature point of the object from the distance image of each of the plurality of frames and writes the detected feature point in a coordinate system set for the object.