Generic Scheimpflug camera model and its calibration

The Scheimpflug condition is performed by tilting the lens such that the object plane, the lens plane and the image plane intersect in a common line. In this paper, two parameters are added to express the homography of the perpendicular plane and the tilted plane. Its decomposition is integrated into the generic Scheimpflug camera model. The proposed model is similar to the traditional camera model, the difference in which is the angle parameters in the intrinsic and extrinsic parameters. Further, the proposed calibration method adopts a collimator to obtain the principle point and uses the traditional camera calibration method to determine the initial values of Scheimpflug camera. After determining these initial parameters of the Scheimpflug model, the optimized results are obtained when the objective function achieves the minimum. In the experiment, comparison between the Scheimpflug model and the pin-hole model are conducted. The simulation and real experiment results confirm the feasibility and validity of the proposed method.