User Guide

This section explains the theory behind AquaCal’s calibration approach and provides practical guidance for using the tools. Each page is self-contained — you can jump to any topic without reading others first.

Theory Pages

• Refractive Geometry — How light rays refract at the air-water interface, refractive projection, and ray tracing

• Coordinate Conventions — World frame, camera frame, pixel coordinates, and transformations

• Optimizer Pipeline — Four-stage calibration pipeline, bundle adjustment structure, and camera models

Practical Guides

• CLI Reference — Command-line interface documentation for calibrate, init, and compare

• Troubleshooting — Common issues and solutions

• Glossary — Definitions of key terms