Abstract: After obtaining three-dimensional (3D) point cloud data of a measured scene using the binocular structured light projection measurement system, three texture (grayscale and color) acquisition and mapping methods have been explored in this paper for different scenes. Under the condition of no additional color imaging equipment, two texture acquisition methods are proposed respectively. On the premise of using an additional texture camera, the method using free texture mapping by adding marker points is proposed. Then, to get rid of the dependence on marker points, the unconstrained free texture mapping method using the object’s feature information is presented. This paper proposes three kinds of practical and feasible solutions from 3D point cloud data to mapping texture for different applicable scenes, and the feasibility of the proposed methods is proved by experiments. The free texture mapping method based on a binocular structured light system provides a simple and easy means of color 3D information acquirement for the fields of cultural relics digitization and reverse engineering.