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Linear structured light system is an increasing common means for acquiring three-dimensional geometry of objects due to its accuracy and robustness. Accuracy and less complexity of system calibration is a key challenge to future scanner designs. A calibration method by a planar checkerboard to minimize calibration complexity and cost is proposed. This method consists of two steps: the camera calibration with distortion and the projector calibration by plane properties. A simple system was designed and calibrated by this method, and a good 3D reconstruction quality is achieved by the calibrated system.