This paper proposes a three-dimensional measurement system with a simple structured system. The proposed system consists of a camera with a fish-eye lens and a cylinder whose inside is coated by a silver reflective layer. A target object is placed inside the cylinder and an image is captured by the camera from right above. The captured image includes sets of points that are observed from multiple viewpoints: one is observed directly, and the other is observed via the mirror. Therefore, the whole shape of the object can be measured using stereo vision in a single shot. An actual experimental situation was simulated and the accuracy is evaluated. In addition, a prototype system was implemented and the shape of the real object was measured.