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Merged
tlancaster6 merged 2 commits into from
Apr 20, 2026
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Dev #2

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5ee0a51
docs: remove WIP status warning from README
tlancaster6 Apr 20, 2026
efe8588
docs: add validation + refinement features to README, mark refinement…
tlancaster6 Apr 20, 2026
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8 changes: 2 additions & 6 deletions README.md
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Refractive multi-camera calibration for underwater arrays. AquaCal calibrates cameras in air viewing through a flat water surface, using Snell's law to achieve accurate 3D reconstruction in refractive environments.

## :construction: Status :construction:
**02/17/26: This project is under active and rapid development.**
The API and internal structure are subject to frequent breaking changes without notice. It is not yet recommended for
production use. A stable release is planned by the end of the month. This section will be updated accordingly once that
milestone is reached.

## Features

- **Snell's law refractive projection** — Accurate ray-tracing through air-water interfaces
- **Multi-camera pose graph** — BFS-based extrinsic initialization for camera arrays
- **Joint bundle adjustment** — Simultaneous optimization of extrinsics, interface distances, and board poses
- **Sparse Jacobian optimization** — Scalable to 10+ cameras with column grouping
- **ChArUco board detection** — Robust corner detection for calibration targets
- **Validation diagnostics** — Holdout reprojection, 3D triangulation checks, and per-camera error breakdowns
- **Active re-calibration (beta)** — `refine_calibration()` updates an existing calibration from point correspondences collected in the field; not yet fully tested

## Installation

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