An endoscope system includes a light source that emits lights with first to n-th wavelengths, a lens that makes the lights with the first to n-th wavelengths parallel lights, a diffractive optical element (DOE) that converges components of the lights with the first to n-th wavelengths, the components being included in the parallel lights, into first to n-th linear lights at mutually different positions, a slit that projects, onto a subject, first to n-th pattern lights based on the first to n-th linear lights, an imager that captures, as one-frame image, an image of the subject onto which the first to n-th pattern lights are projected, and a processor being configured to calculate a distance to the subject or a shape of the subject based on the image captured by the imager.