A kind of three-dimensional measurement system consisting of an ultra-large-scale line structured-light sensor and a two-axis guide rail is designed to realize the high-accuracy rapid three-dimensional measurement of large-scale free-form surface workpiece. The structured-light sensor acquires the image driven by the two-axis guide rail, and obtains the three-dimensional coordinates of the target workpiece by calculation. A novel approach for simultaneous calibration of the intrinsic and extrinsic parameters of ultra-large-scale line structured-light sensor is proposed to transform two-dimensional image coordinate to three-dimensional camera coordinate. The method calibrates the quasi-one-dimensional target, and calculates the intrinsic and extrinsic parameters of line structured-light sensor with the obtained images of target and laser light during translation. Experimental result shows that the calibration results are reliable and the system measurement error is within 0.6 mm, which meets the design requirement. The calibration process is simple, easy to make target, and suitable for the industrial field calibration.