Depth of field (DOF) is an important problem in close range photogrammetry, in particular for very small distances between the camera and object. The DOF problem can be resolved by tilting the image sensor with respect to the image plane using a tilt-shift lens based on Scheimpflug condition. Therefore, Scheimpflug cameras mounted with tilt-shift lens have been receiving increasing attention as a potential solution to such a problem. However, conventional calibration models are not valid for Scheimpflug cameras because such models are based on pinhole cameras.

Thus, a new camera calibration model has been developed for Scheimpflug cameras in this paper using two Scheimpflug angles and a faithful coordinate transformation describing the relationship of a real sensor array plane with respect to an ideal image plane. Experimental results indicate that the proposed calibration model is applicable not only to Scheimpflug cameras but also to conventional pinhole and zoom lens cameras.