According to the homologous points on different coplanar visual-angle images coplanar, the coplanar condition equations with nonlinear distortion coefficients are deduced, and the generalized inverse method of least square solution for nonlinear distortion parameters is put forward to ensure camera self-calibrating accuracy, because the fabricating and assembling errors of the camera optical system cannot be removed which results to nonlinear distortion between real image and ideal image to some extent. This calibrating method generates the nonlinear distortion coefficients from different visual-angle images with more than six code points, therefore it is simple and rapid because it doesn′t need high-precision calibration objects or camera moving platform, so the calibrating cost is low, compared with the traditional camera calibration. The examples have demonstrated this method is correct; therefore it is useful and effective.