Self-interference digital holography (SIDH) and Fresnel incoherent correlation holography (FINCH) are recently introduced holographic imaging schemes to record and reconstruct three-dimensional (3-D) information of objects by using incoherent light. Unlike conventional holography, a reference wave in incoherent holography is not predetermined by an experimental setup, but changes with target objects in incoherent holography. This makes the relation between the 3-D position information of an object and those stored in a measured hologram quite complicated. In this paper, we provide simple analytic equations for an effective 3D mapping between object space and the image space in incoherent holography. We have validated our proposed method with numerical simulations and off-axis SIDH experiments.