Index

A

accepted (aquacal.config.schema.RefinementResult attribute) (aquacal.config.schema.ValidationReport attribute) adjacency (aquacal.calibration.extrinsics.PoseGraph attribute) aquacal.calibration.extrinsics module aquacal.calibration.interface_estimation module aquacal.calibration.intrinsics module aquacal.calibration.pipeline module aquacal.calibration.refinement module aquacal.config.schema module aquacal.core.interface_model module aquacal.datasets.loader module

aquacal.datasets.synthetic module aquacal.io.detection module aquacal.io.serialization module aquacal.io.video module aquacal.triangulation.triangulate module aquacal.validation.comparison module aquacal.validation.diagnostics module aquacal.validation.reconstruction module aquacal.validation.reprojection module auxiliary_cameras (aquacal.config.schema.CalibrationConfig attribute)

B

bin_by_depth() (in module aquacal.validation.reconstruction) bin_centers (aquacal.validation.reconstruction.DepthBinnedErrors attribute) bin_edges (aquacal.validation.reconstruction.DepthBinnedErrors attribute) board (aquacal.config.schema.CalibrationConfig attribute) (aquacal.config.schema.CalibrationResult attribute)

board_config (aquacal.datasets.synthetic.SyntheticScenario attribute) board_poses (aquacal.datasets.synthetic.SyntheticScenario attribute) BoardConfig (class in aquacal.config.schema) BoardPose (class in aquacal.config.schema) build_pose_graph() (in module aquacal.calibration.extrinsics)

C

C (aquacal.config.schema.CameraExtrinsics property) (aquacal.core.camera.Camera property) cache_path (aquacal.datasets.loader.ExampleDataset attribute) calibrate_from_detections() (in module aquacal.calibration.pipeline) calibrate_intrinsics_all() (in module aquacal.calibration.intrinsics) calibrate_intrinsics_single() (in module aquacal.calibration.intrinsics) calibration_date (aquacal.config.schema.CalibrationMetadata attribute) CalibrationConfig (class in aquacal.config.schema) CalibrationError CalibrationMetadata (class in aquacal.config.schema) CalibrationResult (class in aquacal.config.schema) Camera (class in aquacal.core.camera) camera_distances (aquacal.core.interface_model.Interface attribute) camera_drifts (aquacal.config.schema.ValidationReport attribute) camera_names (aquacal.calibration.extrinsics.PoseGraph attribute) (aquacal.config.schema.CalibrationConfig attribute) (aquacal.config.schema.DetectionResult attribute) (aquacal.io.video.VideoSet property) CameraCalibration (class in aquacal.config.schema) CameraDrift (class in aquacal.config.schema) CameraExtrinsics (class in aquacal.config.schema) CameraIntrinsics (class in aquacal.config.schema)

cameras (aquacal.config.schema.CalibrationResult attribute) cameras_with_detections (aquacal.config.schema.FrameDetections property) close() (aquacal.io.video.VideoSet method) compare_calibrations() (in module aquacal.validation.comparison) ComparisonResult (class in aquacal.validation.comparison) compute_3d_distance_errors() (in module aquacal.validation.reconstruction) compute_board_planarity_error() (in module aquacal.validation.reconstruction) compute_calibration_errors() (in module aquacal.datasets.synthetic) compute_camera_heights() (in module aquacal.validation.diagnostics) compute_depth_stratified_errors() (in module aquacal.validation.diagnostics) compute_reprojection_error_single() (in module aquacal.validation.reprojection) compute_reprojection_errors() (in module aquacal.validation.reprojection) compute_spatial_error_map() (in module aquacal.validation.diagnostics) compute_xy_error_grids() (in module aquacal.validation.reconstruction) config_hash (aquacal.config.schema.CalibrationMetadata attribute) ConnectivityError ConvergenceError corner_ids (aquacal.config.schema.Detection attribute) corners_2d (aquacal.config.schema.Detection attribute) counts (aquacal.validation.reconstruction.DepthBinnedErrors attribute) (aquacal.validation.reconstruction.SpatialErrorGrid attribute) create_scenario() (in module aquacal.datasets.synthetic)

D

depth_bin_edges (aquacal.validation.reconstruction.SpatialErrorGrid attribute) depth_errors (aquacal.validation.diagnostics.DiagnosticReport attribute) DepthBinnedErrors (class in aquacal.validation.reconstruction) description (aquacal.datasets.synthetic.SyntheticScenario attribute) detect_all_frames() (in module aquacal.io.detection) detect_charuco() (in module aquacal.io.detection) Detection (class in aquacal.config.schema) DetectionResult (class in aquacal.config.schema)

detections (aquacal.config.schema.FrameDetections attribute) DiagnosticReport (class in aquacal.validation.diagnostics) diagnostics (aquacal.config.schema.CalibrationResult attribute) DiagnosticsData (class in aquacal.config.schema) dictionary (aquacal.config.schema.BoardConfig attribute) dist_coeffs (aquacal.config.schema.CameraIntrinsics attribute) (aquacal.core.camera.Camera property) DistanceErrors (class in aquacal.validation.reconstruction)

E

estimate_board_pose() (in module aquacal.calibration.extrinsics) estimate_extrinsics() (in module aquacal.calibration.extrinsics) ExampleDataset (class in aquacal.datasets.loader) exceeded (aquacal.config.schema.CameraDrift attribute)

extrinsic_video_paths (aquacal.config.schema.CalibrationConfig attribute) extrinsics (aquacal.config.schema.CameraCalibration attribute) (aquacal.core.camera.Camera attribute) (aquacal.datasets.synthetic.SyntheticScenario attribute)

F

fisheye_cameras (aquacal.config.schema.CalibrationConfig attribute) frame_count (aquacal.io.video.VideoSet property) frame_idx (aquacal.config.schema.BoardPose attribute) (aquacal.config.schema.FrameDetections attribute)

frame_indices (aquacal.calibration.extrinsics.PoseGraph attribute) (aquacal.validation.reconstruction.SpatialMeasurements attribute) frame_step (aquacal.config.schema.CalibrationConfig attribute) FrameDetections (class in aquacal.config.schema) frames (aquacal.config.schema.DetectionResult attribute)

G

generate_board_trajectory() (in module aquacal.datasets.synthetic) generate_camera_array() (in module aquacal.datasets.synthetic) generate_camera_intrinsics() (in module aquacal.datasets.synthetic) generate_dense_xy_grid() (in module aquacal.datasets.synthetic) generate_diagnostic_report() (in module aquacal.validation.diagnostics) generate_real_rig_array() (in module aquacal.datasets.synthetic) generate_real_rig_trajectory() (in module aquacal.datasets.synthetic)

generate_recommendations() (in module aquacal.validation.diagnostics) generate_synthetic_detections() (in module aquacal.datasets.synthetic) get_adjacent_corner_pairs() (in module aquacal.validation.reconstruction) get_frame() (aquacal.io.video.VideoSet method) get_frames_with_min_cameras() (aquacal.config.schema.DetectionResult method) get_interface_point() (aquacal.core.interface_model.Interface method) get_water_z() (aquacal.core.interface_model.Interface method) grids (aquacal.validation.reconstruction.SpatialErrorGrid attribute)

H

holdout_fraction (aquacal.config.schema.CalibrationConfig attribute)

holdout_reproj_error (aquacal.config.schema.ValidationReport attribute)

I

image_size (aquacal.config.schema.CameraIntrinsics attribute) (aquacal.core.camera.Camera property) images (aquacal.datasets.synthetic.SyntheticScenario attribute) initial_water_z (aquacal.config.schema.CalibrationConfig attribute) InsufficientDataError interface (aquacal.config.schema.CalibrationResult attribute) Interface (class in aquacal.core.interface_model) interface_normal_fixed (aquacal.config.schema.CalibrationConfig attribute) InterfaceParams (class in aquacal.config.schema)

intrinsic_board (aquacal.config.schema.CalibrationConfig attribute) intrinsic_video_paths (aquacal.config.schema.CalibrationConfig attribute) intrinsics (aquacal.config.schema.CameraCalibration attribute) (aquacal.core.camera.Camera attribute) (aquacal.datasets.synthetic.SyntheticScenario attribute) is_auxiliary (aquacal.config.schema.CameraCalibration attribute) is_fisheye (aquacal.config.schema.CameraIntrinsics attribute) is_open (aquacal.io.video.VideoSet property) iterate_frames() (aquacal.io.video.VideoSet method)

J

joint_refinement() (in module aquacal.calibration.refinement)

K

K (aquacal.config.schema.CameraIntrinsics attribute) (aquacal.core.camera.Camera property)

L

labels (aquacal.validation.comparison.ComparisonResult attribute) legacy_pattern (aquacal.config.schema.BoardConfig attribute) load_calibration() (in module aquacal.io.serialization)

load_config() (in module aquacal.calibration.pipeline) load_example() (in module aquacal.datasets.loader) load_spatial_measurements() (in module aquacal.validation.reconstruction) loss_scale (aquacal.config.schema.CalibrationConfig attribute)

M

marker_size (aquacal.config.schema.BoardConfig attribute) max_calibration_frames (aquacal.config.schema.CalibrationConfig attribute) max_error (aquacal.validation.reconstruction.DistanceErrors attribute) mean (aquacal.validation.reconstruction.DistanceErrors attribute) metadata (aquacal.config.schema.CalibrationResult attribute) (aquacal.datasets.loader.ExampleDataset attribute) metric_table (aquacal.validation.comparison.ComparisonResult attribute) min_cameras_per_frame (aquacal.config.schema.CalibrationConfig attribute) min_corners_per_frame (aquacal.config.schema.CalibrationConfig attribute) module aquacal.calibration.extrinsics aquacal.calibration.interface_estimation aquacal.calibration.intrinsics aquacal.calibration.pipeline aquacal.calibration.refinement aquacal.config.schema aquacal.core.interface_model aquacal.datasets.loader aquacal.datasets.synthetic aquacal.io.detection aquacal.io.serialization aquacal.io.video aquacal.triangulation.triangulate aquacal.validation.comparison aquacal.validation.diagnostics aquacal.validation.reconstruction aquacal.validation.reprojection

N

n_air (aquacal.config.schema.CalibrationConfig attribute) (aquacal.config.schema.InterfaceParams attribute) (aquacal.core.interface_model.Interface attribute) n_ratio_air_to_water (aquacal.core.interface_model.Interface property) n_ratio_water_to_air (aquacal.core.interface_model.Interface property) n_water (aquacal.config.schema.CalibrationConfig attribute) (aquacal.config.schema.InterfaceParams attribute) (aquacal.core.interface_model.Interface attribute) name (aquacal.config.schema.CameraCalibration attribute) (aquacal.core.camera.Camera attribute) (aquacal.datasets.loader.ExampleDataset attribute) (aquacal.datasets.synthetic.SyntheticScenario attribute)

noise_std (aquacal.datasets.synthetic.SyntheticScenario attribute) normal (aquacal.config.schema.InterfaceParams attribute) (aquacal.core.interface_model.Interface attribute) num_cameras (aquacal.config.schema.FrameDetections property) num_comparisons (aquacal.validation.reconstruction.DistanceErrors attribute) num_corners (aquacal.config.schema.Detection property) num_frames (aquacal.validation.reconstruction.DistanceErrors attribute) num_frames_holdout (aquacal.config.schema.CalibrationMetadata attribute) num_frames_used (aquacal.config.schema.CalibrationMetadata attribute) num_observations (aquacal.validation.reprojection.ReprojectionErrors attribute)

O

Observation (class in aquacal.calibration.extrinsics) observations (aquacal.calibration.extrinsics.PoseGraph attribute) (aquacal.config.schema.PointCorrespondence attribute)

open() (aquacal.io.video.VideoSet method) optimize_interface() (in module aquacal.calibration.interface_estimation) output_dir (aquacal.config.schema.CalibrationConfig attribute)

P

P (aquacal.core.camera.Camera property) parameter_diffs (aquacal.validation.comparison.ComparisonResult attribute) per_camera (aquacal.validation.reprojection.ReprojectionErrors attribute) per_camera_metrics (aquacal.validation.comparison.ComparisonResult attribute) per_corner_camera_labels (aquacal.config.schema.DiagnosticsData attribute) per_corner_pair (aquacal.validation.reconstruction.DistanceErrors attribute) per_corner_residuals (aquacal.config.schema.DiagnosticsData attribute) per_frame (aquacal.validation.reprojection.ReprojectionErrors attribute) per_frame_errors (aquacal.config.schema.DiagnosticsData attribute) percent_error (aquacal.validation.reconstruction.DistanceErrors attribute) pixel_to_ray() (aquacal.core.camera.Camera method) pixel_to_ray_world() (aquacal.core.camera.Camera method) plot_camera_rig() (in module aquacal.validation.diagnostics)

plot_depth_error_comparison() (in module aquacal.validation.comparison) plot_error_distribution() (in module aquacal.validation.diagnostics) plot_per_camera_error() (in module aquacal.validation.diagnostics) plot_position_overlay() (in module aquacal.validation.comparison) plot_reprojection_quiver() (in module aquacal.validation.diagnostics) plot_rms_bar_chart() (in module aquacal.validation.comparison) plot_xy_error_heatmaps() (in module aquacal.validation.comparison) plot_z_position_dumbbell() (in module aquacal.validation.comparison) point_3d (aquacal.config.schema.PointCorrespondence attribute) point_to_ray_distance() (in module aquacal.triangulation.triangulate) PointCorrespondence (class in aquacal.config.schema) PoseGraph (class in aquacal.calibration.extrinsics) positions (aquacal.validation.reconstruction.SpatialMeasurements attribute) project() (aquacal.core.camera.Camera method)

R

R (aquacal.config.schema.CameraExtrinsics attribute) (aquacal.core.camera.Camera property) rational_model_cameras (aquacal.config.schema.CalibrationConfig attribute) ray_plane_intersection() (in module aquacal.core.interface_model) recommendations (aquacal.validation.diagnostics.DiagnosticReport attribute) reconstruction (aquacal.validation.diagnostics.DiagnosticReport attribute) reference_calibration (aquacal.datasets.loader.ExampleDataset attribute) refine_auxiliary_intrinsics (aquacal.config.schema.CalibrationConfig attribute) refine_intrinsics (aquacal.config.schema.CalibrationConfig attribute) RefinementResult (class in aquacal.config.schema) refractive_back_project() (in module aquacal.core.refractive_geometry) refractive_project() (in module aquacal.core.refractive_geometry) refractive_project_batch() (in module aquacal.core.refractive_geometry) refractive_project_fast() (in module aquacal.core.refractive_geometry)

refractive_solve_pnp() (in module aquacal.calibration.extrinsics) register_auxiliary_camera() (in module aquacal.calibration.interface_estimation) reprojection (aquacal.validation.diagnostics.DiagnosticReport attribute) reprojection_error_per_camera (aquacal.config.schema.DiagnosticsData attribute) reprojection_error_rms (aquacal.config.schema.DiagnosticsData attribute) ReprojectionErrors (class in aquacal.validation.reprojection) residuals (aquacal.validation.reprojection.ReprojectionErrors attribute) result (aquacal.config.schema.RefinementResult attribute) rms (aquacal.validation.reprojection.ReprojectionErrors attribute) rmse (aquacal.validation.reconstruction.DistanceErrors attribute) robust_loss (aquacal.config.schema.CalibrationConfig attribute) rotation_deg (aquacal.config.schema.CameraDrift attribute) run_calibration() (in module aquacal.calibration.pipeline) run_calibration_from_config() (in module aquacal.calibration.pipeline) rvec (aquacal.config.schema.BoardPose attribute)

S

save_calibration() (in module aquacal.io.serialization) save_detailed_residuals (aquacal.config.schema.CalibrationConfig attribute) save_diagnostic_report() (in module aquacal.validation.diagnostics) save_spatial_measurements() (in module aquacal.validation.reconstruction) signed_errors (aquacal.validation.reconstruction.SpatialMeasurements attribute) signed_mean (aquacal.validation.reconstruction.DistanceErrors attribute) signed_means (aquacal.validation.reconstruction.DepthBinnedErrors attribute) signed_stds (aquacal.validation.reconstruction.DepthBinnedErrors attribute) snells_law_3d() (in module aquacal.core.refractive_geometry) software_version (aquacal.config.schema.CalibrationMetadata attribute) spatial (aquacal.validation.reconstruction.DistanceErrors attribute)

spatial_error_maps (aquacal.validation.diagnostics.DiagnosticReport attribute) SpatialErrorGrid (class in aquacal.validation.reconstruction) SpatialMeasurements (class in aquacal.validation.reconstruction) split_detections() (in module aquacal.calibration.pipeline) square_size (aquacal.config.schema.BoardConfig attribute) squares_x (aquacal.config.schema.BoardConfig attribute) squares_y (aquacal.config.schema.BoardConfig attribute) std (aquacal.validation.reconstruction.DistanceErrors attribute) summary (aquacal.config.schema.ValidationReport attribute) (aquacal.validation.diagnostics.DiagnosticReport attribute) SyntheticScenario (class in aquacal.datasets.synthetic)

T

t (aquacal.config.schema.CameraExtrinsics attribute) (aquacal.core.camera.Camera property) total_frames (aquacal.config.schema.DetectionResult attribute) trace_ray_air_to_water() (in module aquacal.core.refractive_geometry) translation_mm (aquacal.config.schema.CameraDrift attribute) triangulate_charuco_corners() (in module aquacal.validation.reconstruction)

triangulate_point() (in module aquacal.triangulation.triangulate) triangulate_rays() (in module aquacal.triangulation.triangulate) triangulation_consistency_after (aquacal.config.schema.ValidationReport attribute) triangulation_consistency_before (aquacal.config.schema.ValidationReport attribute) tvec (aquacal.config.schema.BoardPose attribute) type (aquacal.datasets.loader.ExampleDataset attribute)

U

undistort_points() (in module aquacal.core.camera)

V

validate_intrinsics() (in module aquacal.calibration.intrinsics) validation_3d_error_mean (aquacal.config.schema.DiagnosticsData attribute) validation_3d_error_std (aquacal.config.schema.DiagnosticsData attribute)

validation_report (aquacal.config.schema.RefinementResult attribute) ValidationReport (class in aquacal.config.schema) video_paths (aquacal.io.video.VideoSet attribute) VideoSet (class in aquacal.io.video)

W

water_z (aquacal.config.schema.CameraCalibration attribute) water_zs (aquacal.datasets.synthetic.SyntheticScenario attribute)

weight (aquacal.config.schema.PointCorrespondence attribute) world_to_camera() (aquacal.core.camera.Camera method) write_comparison_report() (in module aquacal.validation.comparison)

X

x_edges (aquacal.validation.reconstruction.SpatialErrorGrid attribute)

Y

y_edges (aquacal.validation.reconstruction.SpatialErrorGrid attribute)