This paper describes a backward-gazing method for measuring the optomechanical errors of solar concentrating surfaces. It makes use of four cameras placed near the solar receiver and simultaneously recording images of the sun reflected by the optical surfaces. Simple data processing then allows reconstructing the slope and shape errors of the surfaces. The originality of the method is enforced by the use of generalized quad-cell formulas and approximate mathematical relations between the slope errors of the mirrors and their reflected wavefront in the case of sun-tracking heliostats at high-incidence angles. Numerical simulations demonstrate that the measurement accuracy is compliant with standard requirements of solar concentrating optics in the presence of noise or calibration errors. The method is suited to fine characterization of the optical and mechanical errors of heliostats and their facets, or to provide better control for real-time sun tracking.