You need to pre-calibrate camera, ideally using some swim around known object under-water. Under water introduces additional distortions so you may need to adjust settings and allow tangential distortion adjust. https://communities.bentley.com/products/3d_imaging_and_point_cloud_software/w/wiki/28536/the-model-appears-to-be-curved-instead-of-being-horizontal-after-at
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