With the rapid development of aerospace, high-speed train, and automotive industries, the demand for the measurement of high-precision specular components is increasing. The acquisition of high-precision three-dimensional (3D) data is conducive to improving the performance of and extending the service life of these components. However, the existing 3D measurement methods of specular surfaces are affected by the inherent limitation of the depth of field (DOF) of camera lenses. Based on the principle of paraxial reflection imaging of a concave mirror, this paper introduces a concave mirror into a phase measuring deflectometry (PMD) system and proposes an aided imaging PMD (AIPMD) based on a concave focusing mirror. The proposed system realizes the clear imaging of the encoded patterns and the surface under test in the DOF of the camera lens, simultaneously. Meanwhile, the iterative coefficient specular reconstruction algorithm is studied based on this system. The feasibility and accuracy of the proposed method are verified by simulations and experiments.