Considering the problem of the reduced fringe contrast and measured depth of field when the defocused projection of binary fringes is used to generate sinusoidal fringes for measurement, a structured light measurement method based on the focused projection of binary-coded fringes is proposed. Taking the intensity value of sinusoidal fringes in a single cycle as the law, the binary fringes are encoded, and the encoded binary fringes are processed in a specific way to generate sinusoidal phase-shift fringes that can be used for the actual measurement. Meanwhile, with the two-plus-one phase shift algorithm, the background gray image required for the measurement generated by the binary fringes is reused, which reduces the projection of a uniform plane pattern and improves the measurement speed and accuracy. The experimental results indicate that by taking the standard sphere as the research object, the proposed method can achieve a measured root-mean-square error of 0.0425 mm. When the projector is in focus all the time, binary fringes are employed for measurement, which can avoid the influence of nonlinearity, reduce the influence on the contrast of sinusoidal fringes and the measured depth of field, and yield high-precision reconstruction results.