针对光学三维传感中的纹理映射贴图问题，文章在利用结构光投影双目视觉测量系统获取待测场景面形的三维点云数据后，探究完成物体纹理信息(灰度和彩色)的获取及映射方法。在无额外彩色成像设备的条件下，分别提出了两种(灰度和彩色)纹理获取方法。在使用额外纹理相机前提条件下，首先提出了通过增设标记点实现自由纹理映射的方案。随后，为了摆脱对于标记点的依赖，提出了利用物体本征特征信息实现无约束自由纹理映射的方案。本文提出了不同应用场景下三维点云数据纹理映射的三种实用、可行方案，实验证明了它们的可行性。这些纹理映射方案可为文物数字化、逆向工程等领域提供简单易行的含真彩色纹理的三维信息获取手段。

2) On the premise of taking an additional texture camera, marker points are added in the measured field, and the mapping relationship between the 3D point cloud and the 2D texture image can be obtained from the camera imaging model. To further get rid of the constraints of adding markers, an unconstrained free texture mapping method is proposed for objects with rich textures. The idea is to perform feature matching between the object images captured by the left and right cameras. According to the corresponding relationship between feature matching points and the 3D point cloud, the PnP problem is solved to obtain the pose relationship for the establishment of the mapping relationship between the 3D point cloud and the 2D texture image and finally realizes texture mapping. Experiments have proved the feasibility of these two methods. The research fruits of this paper could provide a simple and easy means of color 3D information acquirement for the fields of cultural relics digitization and reverse engineering.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.