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Modern manufacture processes, such as robot based spray painting, welding and grinding, often need obtain the 3D geometrical and shape information to achieve automatic path planning. To satisfy this requirement, a binocular vision three-dimensional measurement system with an improved gray-code structure light is proposed in this paper. With the camera parameters obtained from an offline calibration, a black-and-white inverse re-projection method is adopted to solve the zy boundary problem of the traditional structured light imaging technique. Simultaneously, a fast region block search strategy is proposed for stereo matching to generate the disparity map. Finally, a Lanczos interpolation algorithm is utilized to fill the vacancy of disparity map usually arising from occlusion. It is shown in the experiments that the proposed method can achieve a quick three-dimensional reconstruction of workpieces, especially for those with non-texture or weak texture, which make it very suitable for measurement under an industrial environment.