The three-dimensional surface of the reconstructed object is attached with the color texture of the object to make it realistic. In order to obtain texture data, on the basis of the three-dimensional measurement structure of the binocular camera, an additional color camera is added to obtain the texture. In the subsequent mapping process, it is necessary to know the internal and external parameters of the binocular system and the texture camera, that is, to carry out stereo calibration of the system composed of binocular system and texture camera. In order to obtain the texture information of the object at different angles, and change the position of the texture camera, it should be recalibrate. Aiming at this problem, a method of adding marker points is proposed. The texture camera can be used freely after the system is initially calibrated once, so as to complete the texture map after the texture camera shoots at any position. The experiment verifies the feasibility of this method. This method reduces the frequent calibration process of the texture camera and provides a convenient and easy way to implement point cloud data texture mapping.