Linear structured light scanning is a common method for three dimensional (3D) detection, which is used to detect the targets both in water and air. A method for achieving simultaneously 3D and color information is proposed based on the line scanning system. The true color and 3D information of underwater object can be reconstructed based on the principle of color mixing and color space transformation, red, green, and blue are used as three colors light sources. Experiments demonstrate that the targets can be 3D reconstructed with true color texture at millimeter scales.