During　reconstructing　objects　with　complex　shapes,　3D　object　surfaces　are　anticipated　with　an　elaborate　description　to　surface　features　and　a　fast　acquiring　speed.　While　a　Camera–Projector　Structured　Light　(CPSL)　system　with　a　constant　focal　length　cannot　achieve　the　two　goals.　The　CPSL　system　with　a　Long　Focal　Length　(LFL)　camera　has　a　high　resolution　and　a　small　measurement　area,　therefore,　high　sampling　density　and　low　measurement　efficiency.　Conversely,　the　system　with　a　Short　Focal　Length　(SFL)　camera　has　high　measuring　efficiency　without　enough　sampling　density.　To　accomplish　the　two　goals,　we　propose　a　novel　system　integrating　with　two　types　of　CPSL　system.　One　system　with　the　SFL　camera　fast　obtains　the　overall　morphology　of　objects.　Another　with　the　LFL　camera　acquires　the　details　of　surface　features　very　well.　To　integrate　them,　a　novel　calibration　method　is　presented.　Experimental　results　verify　the　robustness　and　accuracy　of　the　proposed　calibration　method.　©　2015　Elsevier　Ltd