Abstract: Two kinds of scanning mathematical models based on structured light with known angle,named scanning mode of plumb plane and scanning mode of circular cone surface,are introduced.If one camera is used to shoot the structured light projected on the object,3D coordinate of point can be obtained after extracting structured light information on the image and calculating point of intersection of photography line and structured light scanning surface.Through the solution of the equations composed of collinearity condition equations and structured light scanning equation,the expressions of 3D coordinates can be inferred simply and clearly.The experimental results prove the correction of photogrammetry theory of structured light with known angle based on laser theodolite.