To study the fast and efficient modelling method of rock structures, calibration and 3D point cloud establishment were conducted to investigate the optimal parameters of binocular vision modelling through images correction, alignment, deskew and 3D modelling algorithms based on the LenaCV binocular system. Optimal parameters for binocular vision modeling were determined according to the characteristics of target objects suitable for point cloud modeling. Relationship between the optimal shooting distance and baseline distance for 3D point cloud modeling was discussed. The results show that the optimal grid size of the checkerboard is 10 mm. The optimal calibration distance is 25 times the baseline distance with an error limit of 0.5 pixels. Objects with rough surfaces have better 3D modelling effect than that with smooth surfaces. Objects with higher proportion of targets in the field of view show better 3D point cloud modeling than lower ones. The LenaCV binocular system with a baseline distance of 12 cm gives better results than that with a baseline distance of 6 cm in creating and outputting 3D point cloud. Based on on-site tests, the optimal calibration conditions, photographic conditions, and object characteristics for modeling were discussed, providing practical experience for the reconstruction of three-dimensional structures of rock masses and verifying the feasibility.