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Figure 2 Distortion vectors of the camera 
  
p 
DN 
/ 4 
A 
   
  
  
  
   
Figure 1 Calibration plate with point grid 
  
  
  
  
  
  
  
   
  
  
Figure 3 Underwater image with targets: the image Figure 4 View of two sides of a rectangular pen 
is shown as a negative structure with three control point poles 
  
Fig, 
528 
International Archives of Photogrammetry and Remote Sensing. Vol. XXXI, Part B5. Vienna 1996