The development of the lighting profession toward the third stage requires our attention shifting from the light on certain planes to the light distributions in 3D spaces. In this article, we propose a practical strategy to measure the local density of illumination in 3D scenes based on the zeroth-order of spherical harmonics decompositions of a high dynamic range (HDR) panoramic map. The basic functional principle of deriving illuminance density from HDR panoramic maps was presented, and hereinafter named as illuminance panoramic. Illuminance panoramic was compared with Cuttle’s approximated illuminance scalar, which is essentially a physical approximation of the average illumination over a sphere. To verify the measurements, the average illuminance over a sphere, approximated illuminance scalar, illuminance panoramic, cylindrical illuminance, semi-cylindrical illuminance, and horizontal illuminance were simulated via a model (probe in a sphere). The results indicate that the measurement of density of illumination using HDR panoramic maps has well coincided with its definition (i.e., the average illuminance over a sphere) while other illumination values vary with how the probes are located. The measurement theories were later verified using six HDR panoramic maps of real scenes. This research provides confidence in developing applications in mobile phones by capturing HDR panoramic maps to measure the density of illumination in 3D spaces.