A new 3-D data recovering system based on structured light-colour projection for active scenes is presented in this paper. With the use of a light projector and a single camera the system is capable of easily solving the correspondence problem when a 6-connectivity colour disordered pattern illuminates the scene. Since the pattern is handled as a set, the correspondence solution is based on set algebra operators. False matchings and errors are also detected and effectively solved. Experimentation and results show the goodness of the method.