We study the three-dimensional (3-D) imaging properties of an optical heterodyne scanning image processor. The image processor is a two-pupil optical system capable of 3-D imaging coherently or incoherently, depending on the detection scheme used. We derive the imaging properties in terms of the two pupils and then show an important 3-D imaging application in scanning holography by deriving its 3-D point spread functions and compare them with conventional 3-D imaging systems. (C) 2003 Optical Society of America.