Zhang Zhengyou calibration method under matlab environment, you can get the camera' s internal reference external parameters

zhang
.....\zhang
.....\.....\ax=b.asv
.....\.....\axb.asv
.....\.....\axb.m
.....\.....\data1.txt
.....\.....\data2.txt
.....\.....\data3.txt
.....\.....\data4.txt
.....\.....\data5.txt
.....\.....\homography2d1.asv
.....\.....\homography2d1.m
.....\.....\homography2d1.txt
.....\.....\Model.txt
.....\.....\normalise2dpts.m
.....\.....\normalise2dpts.txt
.....\.....\Pa1.mat
.....\.....\Pc1.mat
.....\.....\Pd1.mat
.....\.....\read me.txt
.....\.....\results.txt
.....\.....\rotate.m
.....\.....\simon_H.m
.....\.....\simon_HHH.m
.....\.....\test.asv
.....\.....\test.m
.....\.....\testhomo.asv
.....\.....\testhomo.m
.....\.....\testrotate.asv
.....\.....\testrotate.m
.....\.....\worldframea.txt
.....\.....\worldframec.txt
.....\.....\worldframed.txt
.....\.....\Zhang.asv
.....\.....\Zhang.m
.....\.....\张正友文件
.....\.....\..........\axb.txt
.....\.....\..........\test.txt
.....\.....\..........\testhomo.txt
.....\.....\..........\Zhang.txt

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