Table 1.

Comparison of the precision of radial distortion correction using the classical method and Formula (2).

Conditions	Method	M1	M2	M3	M4
In the air	Without correction	0.51	2.74	1.06	1.66
	Classic	0.49	2.67	1.02	1.59
Underwater (salinity $<1\%$)	Without correction	1.41	7.57	2.45	3.97
	Classic	0.93	4.89	2.33	3.68
	Formula (2) (n = 1.33)	0.65	3.96	1.79	2.75
Underwater (salinity $13\%$)	Without correction	1.51	6.80	2.79	5.28
	Classic	0.90	4.38	2.13	3.49
	Formula (2) (n = 1.35)	0.69	4.05	1.80	2.64
Underwater (salinity $27\%$)	Without correction	1.60	8.54	3.25	5.36
	Classic	1.03	4.79	2.66	3.90
	Formula (2) (n = 1.38)	0.91	4.55	2.44	3.54
Underwater (salinity $40\%$)	Without correction	1.50	7.03	3.54	6.08
	Classic	0.89	5.24	2.34	3.63
	Formula (2) (n = 1.40)	0.83	5.00	2.18	3.24