Foam is encountered in many industrial fields and affects safety and efficiency of floatation, wastewater treatment, and so on. However, the conventional foam measurement techniques measure only an average foam diameter near a transparent wall. Hence, we propose a new technique to measure dense foam through a single-tip optical fiber probe (S-TOP). In past study, we analyzed optical output signals when the S-TOP pierced two parallel thin films via experiments and computations. In this study, we measured a small foam cluster using the S-TOP and visualized the experiment through a high speed video camera. Based on this, we established a new system to measure both foam sizes and thickness. The measurement error was ±10 %.