The number of fringes and phase unwrapping in fringe projection profilometry result in two key factors. The first is to avoid the problems of excessive fringe patterns, and the second is phase ambiguity. This paper presents a three-dimensional (3D) measurement method without phase unwrapping. This method benefits from the geometric constraints and does not require additional images. Meanwhile, epipolar rectification is performed to calibrate the rotation matrix relationship between the new plane of the dual camera and the plane of the projector. Subsequently, using depth constraints, the point pairs with incorrect 3D positions are effectively eliminated, and the initial parallax map is obtained by establishing epipolar lines of the left and right matching points in the projector domain, obtaining the intersection points, and setting up the threshold for filtering. Finally, a function combining the modulation intensity and phase is proposed to refine the parallax map such that the 3D result is insensitive to phase error. The standard step block and standard ball were used to verify the validity of the proposed method, and the experimental results showed that the root mean square error of the method was 0.052 mm.