An adaptive fringe projection method is proposed to avoid measurement errors, which is caused by non-uniform surface reflectivity of colored objects, and to enhance accuracy of a 3D measurement system. RGB images are captured by a camera, and optimal color and intensities at each pixel are calculated according to reflectivity characteristics. A set of horizontal and vertical fringe patterns are captured and the corresponding absolute phase are calculated. Optimal color and intensities at each pixel in the camera pixel coordinate system are transformed into the projector coordinate system by using calculated absolute phase. The adapted fringe patterns are projected by projector for measuring object's 3D shape. Experimental results demonstrate that the proposed method can effectively measure the 3D shape of colored objects and has high measurement accuracy.