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.