Bore deterioration phenomena, such as surface ablation, wear, aluminum deposition, and structural bending, severely restrict the service life and performance of electromagnetic launchers. Efficient bore inspection is necessary to study the deterioration mechanism, guide design, and health management. In this paper, an inspection system for electromagnetic launchers is presented which utilizes structured light scanning, time-of-flight, and laser alignment methods to acquire bore laser point clouds, and ultimately extracts the surface deformation of rails and insulators, as well as the straightness of the bore, through the registration of point cloud data. First, the system composition and detection principles are introduced. Second, the impacts of the detection device’s attitude deflection are analyzed. Next, focusing on the key registration issue of laser point clouds, a coarse registration method is proposed which utilizes the arc features of the rail by combining circle and parabola equations, thereby maximizing registration efficiency. Finally, the trimmed iterative closest-point (TrICP) algorithm is employed for fine registration to handle non-axisymmetric bore deformations. The experimental results show that the proposed method can detect bore surface deformation and straightness efficiently and precisely.