Absolute phase measurement and phase reconstruction to object surfaces with complex geometric and topologic shapes still remain difficult for phase mapping based on three-dimensional (3D) sensing. Recently, an approach based on temporal phase unwrapping has been proposed to handle this task. However, it is found from the experiment that temporal phase unwrapping imposed severe restriction to the illumination system of structured light. If the required condition is not satisfied, the temporal phase unwrapping will cause severe noise in the reconstructed phase map. To overcome this problem, a new approach based on spatial and temporal phase unwrapping is presented, which is constructed with piece-wise functions by taking both temporal and spatial factors into account during the process of phase reconstruction. This leads to the effective phase reconstruction even under the situation that the number of fringes is not exact the integer exponential of power 2, which is an essential restriction imposed on previous temporal phase unwrapping algorithm. The approach eliminates the problem of phase ambiguity at the boundaries of phase jump corresponding to the wrapped phase map and therefore provides a more efficient solution to the phase reconstruction of 3D object surfaces with complex geometric and topologic shapes or to a scene with isolated objects. Experimental results have demonstrated the proposed approach.