An easy way to achieve higher depth of field in a camera-laser configuration is to tilt the image sensor respect to the lens plane, such that the image plane, laser plane and the lens plane intersect in a unique line (Scheimpflug condition [1]). If something has to be measured with this kind of cameras, a proper camera calibration must be done. The usual calibration methods are not valid in this case because they are based on the pin-hole camera model, this model being valid only for normal cameras, i.e. cameras that have the image plane and the lens plane parallel. Thus, a new camera model and its respective calibration must be developed, which includes the Scheimplug angle in the intrinsic camera parameters. In this article, the new camera model and its calibration are defined. Experimental results indicate that using this calibration cameras under Scheimpflug condition can be accurately calibrated.