A method includes obtaining an image of a spatial object in a space. The spatial object is captured in the image by a camera component. The image includes one or more captured planar regions corresponding to one or more planes of the spatial object. A first captured planar region of the one or more captured planar regions includes an array of first captured identification codes and includes first captured straight lines associated with the first captured identification codes. The first captured straight lines in the image are associated with a first vanishing point. The method further includes identifying the first captured identification codes, identifying the first captured straight lines, determining first equations of the first captured straight lines, determining, coordinates of the first vanishing point, and determining one or more intrinsic parameters of the camera component based on at least the first vanishing point.