Fig. 1. Schematic of measurement principle. (a) Schematic of Scheimpflug lidar in water bodies; (b) refraction of light at an interface

Fig. 2. Schematic of Scheimpflug lidar system for water-body measurements, and CMOS camera is tilted for 45°

Fig. 3. Measurement distance and range resolution of lidar system. (a) Relationship between pixel and distance；(b) relationship between measurement distance and range resolution

Fig. 4. Image of laser beam and lidar profiles. (a) Schematic of imaging effect of transmitted laser beam in tap water; (b) pixel-intensity curve of lidar signal; (c) distance-intensity curve of lidar signal after pixel-distance transform

Fig. 5. Temporal and spatial distribution of water-body lidar signal measured at different time on December 24-26，2021

Fig. 6. Range-resolved lidar signals with different mass concentrations of fat emulsion (Intralipid) measured at different time on December 24-26, 2021

Fig. 7. Lidar signal profiles and inversion results measured at different time on December 25, 2021. (a) Typical lidar signals; (b) attenuation coefficients retrieved by Klett method

Fig. 8. Temporal and spatial distribution of water attenuation coefficient obtained by Klett method at different time on December 24-26, 2021

Fig. 9. Relationship between Intralipid mass concentration and attenuation coefficient retrieved by slope method and Klett method