This paper describes a novel 3 dimensional color measurement system. After 3 kinds of geometrical features are analyzed, the line features were selected. A calibration board with right-angled triangle outline was designed to improve the calibration precision. For this system, two algorithms are presented. One is the calibration algorithm between 2 dimensional laser range finder (2D LRF), while the other is for 2D LRF and the color camera. The result parameters were obtained through solving the constrain equations by the correspond data between the 2D LRF and other two sensors. The 3D color reconstruction experiments of real data prove the effectiveness and the efficient of the system and the algorithms.