A new method for camera calibration by using concentric circles and wedge grating based on the orthogonal vanishing point calibration is proposed. This method uses the characteristics of the high-precision of the phase extraction to obtain the feature points, thus avoiding the calibration errors caused by the traditional marker extraction errors. The camera should capture the pattern images at least six positions. The wrapped phase of the grating can be gained by four-step phase shifting and the zero phase intersection points coordinate of the wrapped phase are calculated from images. The vanishing points and all the intrinsic parameters of the camera can be calculated. According to the simulation experiment analysis results which include factors influencing the vanishing point calibration accuracy, the concentric circles grating with seven periods and the wedge grating with four periods are designed. In the real measuring experiment, the grating target and gray concentric circles target are used to calibrate the camera respectively. Through comparing the reprojective errors of the two methods, it can be proved that the method proposed improves the calibration accuracy and robustness for the vanishing point calibration algorithm.