1: We use the conversion relationship of the relevant coordinate systems in the camera imaging process to establish a camera calibration model based on the vanishing point and the vanishing line, and obtain the internal and external parameters of the camera based on the prior scale information in the scene. And established the relative depth solution model of the camera to recover the relevant scale information in the picture;
2: We combine the known scale information in the image and the SFM algorithm to estimate the relevant scale information in the video.