The segmented planar imager is an advanced optical interferometric telescope with a photonic integrated circuit (PIC). It provides a significant reduction in size, weight, and power consumption as compared to traditional optical interferometry. In this article, we propose the combination of a single PIC with a two-dimensional (2D) lens array to achieve single-PIC imaging. Unlike previous designs which require a large number of PIC arrangements in different directions for imaging, a single-PIC imaging system requires only one PIC for 2D frequency domain sampling and imaging. In addition, the single-PIC imaging system can form a larger equivalent aperture through modularization. Since PIC can be mass-produced, the modularization ability of the single-PIC imaging system greatly shortens the production and development cycle of large-aperture telescopes.