I wanted to know of how to decide the lens for my webcam that is onboard the rov? how did the open rov team know of te exact thickness (of the electronics tube) required to give a clear image. What are tthe main factors affecting the clarity of image (given by the lens)? Any major things i should take into consideration before i choose the shape,size, focal point etc.(of the lens). Which type of lens sould i use for underwater video recording applications(Upto depth of 70mtrs)? I hear the fisheye lens type is one of the options is that correct?