Difficulties of phase unwrapping caused by the intense height discontinuity of the tested object exist in the traditional Fourier transform profilometry (FTP) when the single frequency sinusoidal fringe pattern is projected. The hybrid encoding method based on digital point array and sinusoidal fringe pattern projection can solve the problem of the phase ambiguity and error propagation effectively. But a point array pattern and a sinusoidal fringe pattern are demanded to be projected respectively,and it can seriously reduce the measuring efficiency. A new method of colorful composite grating is proposed. It is possible to get a point array pattern and a sinusoidal fringe pattern from only one frame of image. The wrapped phase can be exactly unwrapped according to the point array pattern. Theoretical analysis and experimental results show that the proposed method can be used to solve the profilometry of objects surface with large height discontinuities. Besides that,the novel method has a strong capability of anti-error-propagation and high efficiency in the measurement.