We present a novel approach to texture 3D tubular objects reconstructed from partial views. Starting from few images of the object, we rely on a 3D reconstruction approach that provides a representation of the object based on a composition of several parametric surfaces, more specifically canal surfaces. Such representation enables a complete reconstruction of the object even for the parts that are hidden or not visible by the input images. The proposed texturing method maps the input images on the parametric surface of the object and complete parts of the surface not visible in any image through an inpainting process. In particular, we first propose a method to select, for each 3D canal surface, the most suitable images and fuse them together for texturing the surface. This process is regulated by a confidence criterion that selects images based on their position and orientation w.r.t. the surface. We also introduce a global method to fuse the images taking into account their exposure difference. Finally, we propose two methods to complete or inpaint the texture in the hidden parts of the surface according to the type of the texture.