In order to obtain the high-precision complete point cloud of a reinforcement skeleton required for the automatic quality inspection, an algorithm was proposed for obtaining the complete point cloud of reinforcement skeletons based on a structured light camera. Firstly, 3D reconstruction was carried out for multiple reinforcement skeleton images collected using a structured light camera, thus obtaining the dimensionless poses of the structured light camera. Secondly, the dimensional poses were obtained according to the dimensionless poses. Then, the precise transformation matrix between these dimensional poses was calculated. Next, based on these dimensional poses and the precise transformation matrix between them, graph optimization was employed to optimize these dimensional poses to obtain those with high precision. Finally, point clouds obtained using the structured light camera were aligned based on the dimensional poses with high precision, which can generate the complete point cloud of the reinforcement skeleton. The experimental results show that it would take the proposed algorithm about 10 minutes to obtain the complete point cloud of the reinforcement skeleton of a practical precast concrete component, and the error of the point cloud is around 5 mm. It is concluded that the proposed algorithm can quickly obtain the complete point cloud of the reinforcement skeleton, with high accuracy, which can meet the requirement of the automatic quality inspection of the reinforcement skeleton.