The invention discloses a geometrical shape and surface color real time imaging device which comprises a near-infrared source, a digital mirror device (DMD) projection module, a spectroscope, a near-infrared camera, a color camera and a computer. The computer controls the DMD projection module to generate different near-infrared coding rays to project to a space object to be tested through an IO capture card, and a reflection ray reflected by the object is divided into two paths through the spectroscope, wherein near-infrared light enters the near-infrared camera, and visible light enters the color camera. Images obtained by the near-infrared camera and the color camera are input into the computer through the image capture card, the images of the near-infrared camera are used for three-dimensional coordinate calculation of the object to be tested, and the images of the color camera are used for displaying surface texture and color of the object to be tested. Through projection of the near-infrared coding rays, the geometrical shape and surface color real time imaging device can not only obtain the three-dimensional coordinate calculation of the object to be tested, but also obtain the surface texture and the color of the object to be tested.