We present a five-dimensional (5D) imager that is capable of simultaneous detection of the surface shape, spectral characteristics, and polarization states of macroscopic objects, and straightforwardly fuse collected data into a 5D data set. A polarized module that uses a polarized camera obtains polarized images, while a 3D hyperspectral module reconstructs the target as a 3D point cloud using a fringe projection technique. A liquid-crystal tunable filter is placed in front of the camera of this module to acquire spectral data that can be assigned to corresponding point clouds directly. The two modules are coupled by a dual-path configuration that allows the polarization information to be merged into a comprehensive point cloud with spectral information, generating a new 5D model. The 5D imager shows excellent performance, with a spectral resolution of 10 nm, depth accuracy of 30.7 µm, and imaging time of 8 s. Sample experiments on a toy car with micro scratch defects and a yellowing plant are presented to demonstrate the capabilities of the 5D imager and its potential for use in a broad range of applications, such as industrial manufacturing inspection, plant health monitoring, and biological analysis.