AquaCal Example Dataset: Real Multi-Camera Underwater Rig

Example calibration dataset for the https://github.com/tuckerlancaster/aquacal refractive multi-camera calibration library. Contains synchronized frame sequences from a 13-camera array (12 standard + 1 fisheye auxiliary) viewing ChArUco calibration boards both in the air (intrinsic calibration videos) and through a flat air-water interface (extrinsic calibration videos) Contents: 780 extrinsic calibration frames (13 cameras × 60 frames, sampled every 4s) 283 intrinsic calibration frames (13 cameras, variable count per camera AquaCal configuration file (config.yaml) Reference calibration result from high-density run (framestep=30 with intrinsic refinement) Camera Hardware: WhiteMatter e3Vision system Boards: 12×9 ChArUco (60mm squares, 45mm markers, DICT_5X5_100, non-legacy opencv pattern) for extrinsics 11×8 ChArUco (20mm squares, 15mm markers, DICT_4X4_100, legacy opencv pattern) for intrinsics Usage: from aquacal.datasets import load_exampleds = load_example('real-rig')