Dry calibration for underwater survey

A method of calibrating a camera system, the method comprising:

• defining a three-dimensional virtual environment comprising a plurality of linearly adjacent mediums, the linearly adjacent mediums comprising a first, a second, and a third medium,
• wherein each of the first, second, and third mediums have a different refractive index from the other mediums, and wherein a virtual representation of at least one camera lens is located in the first medium;
• generating a plurality of virtual planar patterns arranged in different positions or orientations relative to and in front of the virtual representation of the at least one camera lens, the plurality of virtual planar patterns being located in the third medium;
• identifying a plurality of points on each of the virtual planar patterns;
• generating a plurality of vector projections using the refractive index of each of the first, second, and third mediums and a set of physical calibration parameters associated with the camera system;
• wherein each generated vector projection corresponds to a best-fit refracted path between one of the at least one camera lens and a corresponding one of the identified plurality of points, and
• executing a calibration of the camera system using the generated plurality of vector projections.