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We present a measurement setup for the acquisition of topographic and 3D point cloud data using the depth-scanning fringe projection technique (DSFP). We describe the signal generation, its processing using techniques known from short coherence interferometry and discuss a direct 3D calibration method. Our measurement system delivers an absolute phase map of the scene under measurement. Calibration procedures for macroscopic measurement methods like fringe projection and / or photogrammetry consider the principal distance (that is to say the distance between the center of projection and the image plane) as a constant. This is feasible as long as no focusing and zooming are performed during measurement. Consequently the depth of the measurement volume is limited by the depth of sharpness of the imaging system. By focusing through the whole depth of the measurement volume, our system overcomes this problem, and offers a virtually unlimited measurement depth. However, we have to take the issue of focusing into consideration in order to calibrate our system. The well-known direct calibration method has been adapted to our DSFP setup in order to deal with the problem of geometrical aberrations and to provide a 3D point cloud. It has been completed to a set of three polynomial transformations, which allow to include the depth-scanning principle in the calibration of the system.