Tutorials

Interactive Jupyter notebook tutorials demonstrating AquaCal’s calibration pipeline with real and synthetic data.

Each tutorial is self-contained and can be run locally or on Google Colab.

Tutorial 01: Calibrate Your Rig

End-to-end calibration from data loading to validated 3D results. Covers ChArUco detection, intrinsic/extrinsic initialization, joint refractive bundle adjustment, and a built-in diagnostics section for interpreting reprojection errors, checking interface distance recovery, and troubleshooting common issues.

Start here if you want to calibrate a real or synthetic underwater multi-camera rig.

Tutorial 02: Why Refractive Calibration Matters

Controlled synthetic experiments that quantify what you gain from modeling Snell’s law refraction. Compares refractive vs non-refractive calibration on the same data — showing how non-refractive models introduce systematic bias in focal length and camera position even when reprojection error looks acceptable.

Start here if you want to understand when the refractive model is essential and how to validate parameter recovery accuracy.