camera angle from perspective

Hello! How can the camera angles calculated from the perspective distortion? If the corresponding points of the object (let's take a simple flat, rectangular object in the 3D space) and it's corresponding points in the camera image are known, how can be the angle under which the image was taken, calculated? I already calculated the homogeneous matrix, but I would need to know the angles.

Answer 1

[bym]

http://www.vision.caltech.edu/bouguetj/calib_doc/

Answer 2

[Zoltan]

Hi proecsm! Thank you for pointing to the camera calibration toolbox. I already had it, but unfortunatelly, when I used it, it predicted an object position, where the translation vector was ~2.7 times larger than the original, and also the objects rotation was ~45° instead of the expected 10-15°. It seems, that without knowing the proper intrisic camera parameters, like the field of view, the perspective angle can not be calculated.