The invention discloses a full-focusing refraction and reflection imaging method and a full-focusing refraction and reflection imaging device based on a coded aperture. The panoramic imaging device comprises an optical system and imaging equipment, wherein the optical system consists of a refraction and reflection mirror surface; and the imaging equipment consists of a traditional refraction and reflection panoramic image acquisition device and a specially designed aperture (coded aperture). According to the design, the optical system of the coded aperture technology is fused, the defect that the acquired image defocuses and is fuzzy due to curved imaging in the conventional refraction and reflection camera is overcome, the conventional refraction and reflection imaging system is transformed and upgraded by utilizing the coded aperture technology, and a method for restoring the refraction and reflection defocusing image to a full-definition image is provided. The design aims to provide a video monitoring system which is good in imaging effect of the conventional refraction and reflection acquisition device and suitable for ultrahigh resolution.