A novel linear approach using space-coplanar-line to perform camera self-calibration from a single image is presented.Combined with engineering applications,the method directly utilizes rectangular information of the scene and the centrical projection relation of the point to obtain the projection relation of the lines.The linear internal and external parameters of high precision calibration of the camera are derived based on three unparallel coplanar lines.The results of synthetic and real images are accurate and reliable with this method,whose precision is obviously better than that with the space-coplanar-point method.