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In phase-shifting-based fringe-projection surface-geometry measurement, phase unwrapping techniques produce a continuous phase distribution that contains the height information of the 3-D object surface. Mapping of the phase distribution to the height of the object has often involved complex derivations of the nonlinear relationship. In this paper, the phase-to-height mapping is formulated using both linear and nonlinear equations, the latter through a simple geometrical derivation. Furthermore, the measurement accuracies of the linear and nonlinear calibrations are compared using measurement simulations where noise is included at the calibration stage only, and where noise is introduced at both the calibration and measurement stages. Measurement accuracies for the linear and nonlinear calibration methods are also compared, based on real-system measurements. From the real-system measurements, the …