A stereoscopic endoscope device comprising: a single objective lens adapted to collect light from a subject and to form an image of the light; a light splitting section adapted to split the light collected by the objective lens into two or more beams, focal-position adjusting sections (11, 12) adapted to give optical path lengths different from each other to the two or more beams of the light split by the light splitting section, two image-capturing devices (6, 7) that are disposed at imaging positions of the beams of the light split by the light splitting section and adapted to simultaneously capture optical images of the subject; a calculation section configured to calculate an object distance between each point on the subject and the objective lens, from two 2D images of the subject that are simultaneously acquired by the two image-capturing devices (6, 7) and whose focal positions are different from each other; and a parallax-image generating section configured to generate a plurality of viewpoint-images of the subject when observed from a plurality of viewpoints (A, B), by using the object distance calculated by the calculation section, wherein the calculation section is configured to calculate the object distance between the tip of the objective lens and each point on the subject based on the degrees of image blurring of the subject in the two 2D images, the degree of image blurring in each 2D image becoming larger as the shift length in the direction of the optical axis in the depth direction of the objective lens from the focal position is increased, characterized in that the calculation section has a database in which the object distance from the tip of the objective lens to the subject is associated with the degree of image blurring in a 2D image, such that, by referring to the database, the calculation section configured to calculate an object distance at which the difference between the degrees of blurring in the two 2D images at each point is minimized, as the object distance of the subject at that point. a single objective lens adapted to collect light from a subject and to form an image of the light; a light splitting section adapted to split the light collected by the objective lens into two or more beams, focal-position adjusting sections (11, 12) adapted to give optical path lengths different from each other to the two or more beams of the light split by the light splitting section, two image-capturing devices (6, 7) that are disposed at imaging positions of the beams of the light split by the light splitting section and adapted to simultaneously capture optical images of the subject; a calculation section configured to calculate an object distance between each point on the subject and the objective lens, from two 2D images of the subject that are simultaneously acquired by the two image-capturing devices (6, 7) and whose focal positions are different from each other; and a parallax-image generating section configured to generate a plurality of viewpoint-images of the subject when observed from a plurality of viewpoints (A, B), by using the object distance calculated by the calculation section, wherein the calculation section is configured to calculate the object distance between the tip of the objective lens and each point on the subject based on the degrees of image blurring of the subject in the two 2D images, the degree of image blurring in each 2D image becoming larger as the shift length in the direction of the optical axis in the depth direction of the objective lens from the focal position is increased, characterized in that the calculation section has a database in which the object distance from the tip of the objective lens to the subject is associated with the degree of image blurring in a 2D image, such that, by referring to the database, the calculation section configured to calculate an object distance at which the difference between the degrees of blurring in the two 2D images at each point is minimized, as the object distance of the subject at that point.