We propose a simple and practical calibration technique that effectively estimates camera parameters from just five points on two orthogonal 1-D objects, each which has three collinear points, one of which is shared. We derive the basic equations needed to realize camera calibration from just five points observed on a single image that captures the objects. We describe a new camera calibration algorithm that estimates the camera parameters based on the basic equations and optimizes them by the bundle adjustment technique. Our method is validated by both computer simulated data and real images. The results show that the camera parameters yielded by our method are close to those yielded by existing methods. The tests demonstrate that our method is both effective and practical.