The structured light 3D camera uses MEMS encoded grating structured light for scanning and reconstructs the true 3D point cloud data of the object based on binocular image recovery algorithms. It meets the needs of industrial-grade high-resolution, sub-millimeter measurement for 3D vision applications. The device is small in size, large in depth of field, high in measurement accuracy, low in cost and simple in operation. It can be applied to biometrics, industrial automation, robotics, 3D object reconstruction and other scenes.