A new method for obtaining 3D shape and texture information of objects is proposed. A digital projector is used to project the two encoding color phase-shifted grating projection onto the object surface. Extracting R, G, B three primary colors, fringe patterns and background light containing object height and texture information are obtained. The three-dimensional morphology of the object is reconstructed by using the improved 2+1 phaseshift algorithm for fringe patterns containing the object height information. Object texture information is obtained by colour coding using the background light. Texture mapping technique is used to restore the texture of the object. Computer simulation and experimental results show the validity and feasibility of the proposed method.