Linear integer unconcerned phase-map fringe projection pro- filometry has been used to measure the 3-D shape of objects with discontinuous height steps. The projection is carried out with the conventional crossed-optical-axes geometry. Linear integer unconcerned phase maps are obtained by changing the projecting angle of the grating. A lookup-table algorithm is applied to phase unwrapping. An automated analysis of the fringe patterns is carried out by the Fourier transform method. Experimental results are presented that demonstrate the validity of the principle.