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An experimental comparison of the proposed approach with Scheimpflug model has been made on real industrial data sets under the presence of large distortions. The proposed method is based on the use of optical lens distortion models. We elaborate Scheimpflug formation model, and show how we can deal with introduced Scheimpflug distortions, without the need to estimate their angles. In this paper, we present a new intrinsic calibration technique using bundle adjustment technique. However, pin-hole model assumptions used by classical camera calibration techniques are not valid anymore for Scheimpflug setup. In order to provide a metric 3D reconstruction, we need to perform an accurate camera calibration. Scheimpflug principle requires that the image sensor, lens, and object planes intersect at a single line known as “Scheimpflug line.” This principle has been employed in several applications to increase the depth of field needed for accurate dimensional measures.