The camera parameter of each camera must be decided to demand the three-dimensional coordinate of the object in image from a stereo image. Decision of the camera parameter is the most important calibration work for a highly precise measurement. The decision of eleven linear camera parameters needs the information of more than six points of the coordinates in space (x, y, z) and the corresponding camera screen projection coordinate (X, Y). The set of those six points must include three-dimensional structural information (six points must not on same plane). In this research, a theoretical method to determine eleven camera parameters from four points of information in the plane and focal length of the camera lens.