The directed infrared projecting device based on mid-infrared laser has become more important because the mid-infrared (3～5 μm) detectors have been widely applied in the military field. The beam pointing stability is the key parameter for such application. The beam pointing measurement is conducted for an optical parameter oscillation (OPO) mid-infrared laser. The mid-infrared imaging system, image edge extraction algorithm and threshold algorithm are adopted to obtain the pointing data of this mid-infrared laser. The experimental results show that the maximum pointing error is 1.1 mrad and the average is 0.3 mrad at room temperature. The main reason is that the temperature control system for laser diode (LD) is not perfect and it may be improved further. The measurement results can provide references for the investigation, beam shaping, pointing measurement and stability techniques of mid-infrared lasers.