Time of Flight (ToF) depth camera is one of the important means to obtain three-dimensional point cloud data, but ToF depth camera is limited by its own hardware and external environment, and its measurement data has certain errors. Aiming at the unsystematic error of ToF depth camera, this paper experimentally verifies that the color, distance, and relative motion of the measured target affect the data obtained by the depth camera, and the error effects are different. A new measurement error model is proposed to correct the error caused by color and distance. For the error caused by relative motion, a three-dimensional motion blur function is established to recover it. Through the numerical analysis of the established calibration model, the residual error of distance and color is less than 4 mm, and the error caused by relative motion is less than 0.7 mm. The work done in this paper improves the quality of the measurement data of the ToF depth camera, and provides more accurate data support for 3D point cloud reconstruction and other work.