Comparison and error analysis of the standard pin-hole and Scheimpflug camera calibration models

The Scheimplug condition consists on tilting the image plane (CCD plane) respect to the lens plane in order to increase the depth of field of a camera. The problem with this kind of cameras is that the conventional calibration methods doesn't take into account the introduced angle between the image plane and the lens plane. Only if the angle (from now on Scheimpflug angle) is small, the tangential distortions would compensate the error generated by tilting the sensor. In this article a comparison between a the Scheimpftug camera model, which includes the Scheimplug angle in the intrinsic camera parameters and the classical pin-hole camera model is made. Simulation and experimental results shows that better calibration results can be obtained using the Scheimpftug camera model.