In a picture, we have enough corner points, but don't know their correspondent real object points in the world, how shall we get the camera caliberation base on the above formula?

If you don't know the according 3D coordinates, I doubt that this is possible at all. Since the world coordinate system is completely unknown in this case, you can get an arbitrary number of solutions, since each of the known 2D coordinates lie somewhere on the ray passing through the principal point and that pixel. If you know the 3D coords as it's shown in your formula, you can use a straightforward pose estimation algorithm to estimate the camera's orientation.

Hi,

I just uploaded my old tutorial here.

Hope you can find it useful for your research

https://www.researchgate.net/publication/240653242_Fundamental_Techniques_For_3D_Computer_Vision_A_Tutorial_for_Entry_Level_Researcher?ev=prf_pub

Article Fundamental Techniques For 3D Computer Vision: A Tutorial fo...

sunu, there is no content. where they are?

well, I get the sense of the problem I ask above. so I delete it.

thank you all at the same.