This study proposes the use of a high-speed camera as a holographic visual sensor to obtain the dense full-field dynamic parameters of the main beam of a bridge by the field of view through uniaxial rotation photography. Based on the basic principle that the frequency and mode of a structure are inherent characteristics, the mode coordinates obtained from each field of view are unified, normalized, and matched according to the same name pixels to obtain the dense fullfield dynamic parameters of the entire bridge. The frequency and first three order modes of a self-anchored suspension test bridge are collected by the method proposed in this study. The frequency comparison between the accelerometers and dial gauges is within 3%, and the mode shapes are more holographic and more realistic than those obtained by limited measuring points. In addition, the difference in the curvature mode under various damage conditions obtained by limited measurement points is compared with that obtained by the method proposed in this study. Results shows that the dense full-field modal curvature difference can reflect the change in the damage location even in a low order, which means the sensitivity of the change of damage location in low-order modal.