A monocular imaging system is designed to capture the multi-viewpoints stereo images. Several identical isosceles trapezoidal planar mirrors are placed around a wide view-angle camera. The light rays from an object projected onto the camera include direct light and the light reflected by the mirrors, and divide the camera′s image into several regions; thus a multi-viewpoints image is captured. These regions correspond to observations with multiple cameras at different positions and orientations, and can be used for multi-views stereo images to reconstruct three-dimensional (3D) information. The system design guideline and calibration method are described, and an application of 3D shape measurement is proposed. Experimental results indicate that the proposed system can capture monocular multi-viewpoints stereo images, and achieve highly robust 3D measurement.