Aimed at the problem of difficulty in the projector calibration of single camera structurelight scanner system, the projection model with 10 parameters was proposed through analyzing working principle and projection characteristics. By considering the projection process as a reverse of video process, by the means of a vidicon, the corresponding relationship of CCD camera image and projector grating image was established. The generating method of a projector grating image was proposed based on heterodyne type multifrequency phase shift. By the calibration image obtained through shooting and generating, based on video shooting measurement principle, it was implemented step by step of a vidcon of internal parameters, the projector and their corresponding exterior parameters, and system calibration of the scanner was realized. The calibration experiment shows that this is a highprecision with reprojection error lower than 008 Pixel, when the index point on the calibration board is projected again by calibration result. The absolute error for measuring standard ball is lower than 007 mm using the SingleCamera StructureLight Scanner calibrated by the proposed method to calibrate, which can satisfy measuring requirements for 3D profiles of most objects.