We present the problem of setting up an intrinsic camera calibration under Scheimpflug condition for an industrial application. We aim to calibrate the Scheimpflug camera using a roughly hand positioned calibration pattern with bundle adjustment technique. The assumptions used by classical calibration methodologies are not valid anymore for cameras undergoing Scheimpflug condition. Therefore, we slightly modify pin-hole model to estimate the Scheimpflug angles. The results are tested on real data sets captured from cameras limited by various industrial constraints, and in the presence of large distortions.
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