A novel color 3-D acquisition method based on structured-light scanning is presented. The mathematics model of measurement is built ,which describes the transformation from world coordinates to pixel coordinates. Then a circle pattern is designed for light- plane parameters calibration. The sensor is capable of capturing color image, accordingly the RGB value of the measured point is acquired from the corresponding pixel in color image. A standard-sized jig is measured with accuracy better than 0. 1 mm. Also the complete color 3-D data of a flowerpot is obtained through scanning and rendering,which indicates that the proposed approach has advantage of high accuracy and effectivity.