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I'm trying to implement this paper in matlab:

Geometry-Based Camera Calibration Using Five-Point Correspondences From a Single Image

Now, I think I have correctly found the camera position, while I'm still doubtful on the Rotation Matrix and can't understand how to apply DLT algorithm to find the focal length. I don't understand how to implement the algorithm. Since focal length is just a parameter, and all other parameters are known, hw the DLT matrix should be formed?

Here is my code, with the images I used.

Code from GitHub

If someone could look into it, or suggest a way to use DLT it will be appreciated. To make it work I found the focal length as if equation [5] and [6] of the paper form a linear system.

Brokenp17
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