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The x angle (`angle_x`) is the angle spanned by that ray and the x-axis of the image plane. The same holds for the y angle (`angle_y`). In other words, the x angle is a function of the x pixel coordinate of the target (denoted by _u̅_ in the image below), the y angle is a function of the y pixel coordinate (denoted _v_ in the image below). Using the angle rather than _u̅/v̅_ pixel coordinates has the advantage that the effect of the camera lens is already accounted for.