AquaKit

Refractive multi-camera geometry foundation for the Aqua ecosystem. Provides shared PyTorch implementations of Snell's law refraction, camera models, triangulation, pose transforms, calibration loading, and synchronized multi-camera I/O — consumed by AquaCal, AquaMVS, and AquaPose.

Installation

AquaKit requires PyTorch but does not bundle it, so you can choose the build that matches your hardware. Install PyTorch first, then AquaKit:

# CPU only
pip install torch
pip install aquakit

# CUDA (example: CUDA 12.4 — see https://pytorch.org/get-started for other versions)
pip install torch --index-url https://download.pytorch.org/whl/cu124
pip install aquakit

Quick Start

import torch
from aquakit import CameraIntrinsics, CameraExtrinsics, InterfaceParams
from aquakit import create_camera, snells_law_3d, triangulate_rays

# Load calibration from AquaCal JSON
from aquakit import load_calibration_data

calib = load_calibration_data("path/to/aquacal.json")

Development

# Set up the development environment
pip install hatch
hatch env create
hatch run pre-commit install
hatch run pre-commit install --hook-type pre-push

# Run tests, lint, and type check
hatch run test
hatch run lint
hatch run typecheck

See Contributing for full development guidelines.

Documentation

Full documentation is available at aquakit.readthedocs.io.

License

MIT