In the optical three-dimensional measurements of complex objects, the process of phase unwrapping affects the measurement accuracy and measurement speed. To avoid phase unwrapping, S-transform and sub-pixel matching are applied. Firstly, a digital fringe pattern is projected to an object and the wrapped phase can be extracted. Secondly, an initial parallax is calculated based on the deformed fringe pattern. According to the principle of stereo vision, candidate matching points can be calculated. Thirdly, phase slope function can be defined and the edge points can be confirmed from the phase slope. Finally, the sub-pixel parallax is calculated and 3D information can be obtained based on system calibration parameters. Experiments and results verify that the proposed method can provide high-speed and accurate 3D information, especially for discontinuous objects and shiny objects.