Calibration Pipeline
====================

.. note::

   For optimizer implementation details, see :doc:`/guide/optimizer`.

The calibration package implements a four-stage pipeline for refractive multi-camera calibration.

Pipeline
--------

.. automodule:: aquacal.calibration.pipeline
   :members:
   :show-inheritance:

Stage 1: Intrinsics
--------------------

.. automodule:: aquacal.calibration.intrinsics
   :members:
   :show-inheritance:

Stage 2: Extrinsics
-------------------

.. automodule:: aquacal.calibration.extrinsics
   :members:
   :show-inheritance:

Stage 3: Interface Estimation
------------------------------

.. automodule:: aquacal.calibration.interface_estimation
   :members:
   :show-inheritance:

Stage 4: Refinement
-------------------

.. automodule:: aquacal.calibration.refinement
   :members:
   :show-inheritance: