Figure 3.

Departure from a flat radiance profile, d, for suboptimal orientation decisions. Reference orientation θ₀ (yaw = 0°, pitch = 0°, roll = 0°), St Andrews, Scotland, June 21, noon (summer solstice, sun azimuth = 180°, sun elevation = 60°), with (top) sunny weather and (bottom) cloudy weather. Heat maps show deviation from flat radiance (black), as per eqn (eqn 2) and normalized into [0, 1], for pitch vs. yaw. Light colour represents high deviation, and dark colour represents low deviation. The plots are normalized separately.