The digitization of objects' full surfaces finds widespread applications in fields such as virtual reality, art and design, and medical and biological sciences. For the realization of three-dimensional full-surface digitization of objects within complex sceneries, we propose a straightforward, efficient, and robust panoramic three-dimensional optical digitization system. This system contains a laser-based optical three-dimensional measurement system and a bi-mirror. By integrating mirrors into the system, we enable the illumination of the object from all angles using the projected laser beam in a single scanning process. Moreover, the main camera employed in the system can acquire three-dimensional information of the object from several different viewpoints. The rotational scanning method enhances the efficiency and applicability of the three-dimensional scanning process, enabling the acquisition of surface information of large-scale objects. After obtaining the three-dimensional data of the sample from different viewpoints using laser triangulation, mirror reflection transformation was employed to obtain the full-surface three-dimensional data of the object in the global coordinate system. The proposed method has been subjected to precision and validity experiments using samples with different surface characteristics and sizes, resulting in the demonstration of its capability for achieving correct three-dimensional digitization of the entire surface in diverse complex sceneries.