This study describes a novel fringe-shaping technique developed to alleviate the fringe truncation problem engendered by the acquired saturated and/or weak fringe images from high-/low-reflectance surfaces of three-dimensional (3D) objects in phase-shifting profilometry. The particle swarm optimization algorithm is employed to perform the recovery of the truncated fringes with optimal fitting for compensation after single-trial acquisition. The results show that the proposed method improves phase recovery accuracy to accomplish 3D surface reconstruction with only one set of phase-shifting fringes under different truncation sceneries.