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the vertical bar were overlapped in the picture. And the distance d was estimated
based on the approximate proportional relation between d by the real disc radius
and the focal length by the disc radius projected on the imaging device (CCD). Also
measured was the projected tilt angle t of the bar in the picture (Fig. 12 ). The angles
j and t give azimuth and dip of the disc plane (i.e. the surface) relative to the line
of sight (Fig. 13b ). And this apparent orientation was calibrated along with camera
centering, pan and tilt angles of the camera, heading, pitch, and roll angles of the
submersible, and the installation angles of the rotation axes of the camera to the
submersible. Distortion of the picture was not corrected, however, the on-shore
tests gave good agreements with measurements by a magnetic clinometer compass
within the errors less than several degrees.
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