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The nonlinear intensity response of a digital fringe projection profilometry (FPP) system causes the captured fringe patterns to be nonsinusoidal waveforms and leads to an additional phase measurement error for commonly used three- and four-step phase-shifting algorithms. We perform theoretical analysis of the phase error owing to the nonsinusoidal waveforms. Based on the derived theoretical model, a novel and simple iterative phase compensation algorithm is proposed to compensate the nonsinusoidal phase error. Experiments show that the proposed algorithm can be used for effective phase error compensation in practical phase-shifting FPP.