Fig. 1. Basic optical geometry of ordinary camera

Fig. 2. Basic optical geometry of Scheimpflug camera

Fig. 3. Illustration of Hinge rule and Scheimpflug principle in joint action

Fig. 4. Schematic of Scheimpflug camera's depth-of-field

Fig. 5. Schematic of calibration principle of general imaging model[42]. (a) Camera as black box, with one pixel and its camera ray; (b) pixel sees a point on a calibration object, whose coordinates are identified in a frame associated with the object; (c) same as (b) for another position of the calibration object; (d) if the object's motion is known, the two points on the calibration object can be placed in the same coordinate frame here the same one as in (c) the camera ray is then determined by joini

Fig. 6. Schematic of general non-parametric imaging model

Fig. 7. Reconstructed results and error distribution of planar calibration plate. (a) Reconstructed results of calibration plate; (b) error distribution of reconstructed control points

Fig. 8. Two-dimensional electric rotary table

Fig. 9. Three-dimensional electric translation table

Table 1. Results of relative pose of calibration plate calibrated by different calibration models

Table 2. Deviation of calibration results using general non-parametric imaging model and classical parametric models

Table 3. Pose estimation accuracy of Scheimpflug camera using different imaging models