In order to reduce human interaction and the workload, a method using a color phase-shifting wedge grating array is proposed for accurate camera calibration, which needs only one frame at each pose. Firstly, the zero-phase points are roughly extracted by edge detection algorithm and optimized by windowed bicubic fitting with sub-pixel accuracy. Secondly, a simple linear fitting algorithm is used to obtain zero-phase lines and acquiring their intersection points. Finally, the intersection points coinciding with circle-centers are regarded as feature points to calibrate the camera. The effectiveness and accuracy of the method is verified by experiments with real images even under color-coupling. It is shown that our method is accurate and reliable comparing with the checkerboard.