cave-closure
Independent Gaussian weighted least-squares correction of oriented survey multigraphs in local ENU metres. The Rust core has no consumer, geographic, Tauri, or Python dependency. This source tree is standalone; upstream and registry identities must be supplied before publication or submodule registration.
The caller selects spatial or marginal-horizontal loop closure. Horizontal mode requires an explicit preserved-Z value for every station. Covariance models include supplied SPD matrices, equal isotropic variance, length-proportional variance, and uncalibrated relative weights. No variance floor is inserted.
Exact equivalences and offsets are contracted before solving. Hard controls may
select individual axes. Soft controls identify translation directions without
being replaced by artificial gauges. Uncontrolled directions receive reported,
deterministic gauges unless RequireControl behavior is requested.
The default backend eliminates unknown station blocks with at most two
neighbors, solves the remaining system with block-Jacobi PCG, and reconstructs
coordinates. The optional sparse-direct feature adds maintained sparse QR of
the whitened design and sparse Cholesky of the normal system. Backends are
explicit choices. There is no automatic fallback or regularization.
use cave_closure::{json, prepare, PrepareOptions, SolveConfig, Workspace, SolveControl};
let problem = json::from_json(include_str!("tests/fixtures/controlled_tree.json"))?;
let prepared = prepare(&problem, &PrepareOptions::default())?;
let result = prepared.solve(&SolveConfig::default(), &mut Workspace::default(), &SolveControl::default())?;
result.require_converged()?;
# Ok::<(), cave_closure::Error>(())
from cave_closure import prepare_json, coordinates
prepared = prepare_json(input_json)
result = prepared.solve()
result.require_converged()
positions = coordinates(result)
prepare_arrays is the ordinary owned bulk API. prepare_buffers accepts
C-contiguous native unsigned 64-bit endpoint indexes and float64 displacement
and covariance buffers. Both take mode=LoopClosureMode.SPATIAL or
mode=LoopClosureMode.HORIZONTAL, with LoopClosureMode imported from
cave_closure. Horizontal mode also requires preserved_z. LoopClosureMode
is a StrEnum with values "spatial" and "horizontal"; existing string
arguments remain accepted. NumPy is optional. Preparation copies input;
exporters must not be modified concurrently while the copy runs. Prepared
objects and results are immutable. Concurrent solves have separate workspaces
and may share a preparation. CancellationToken supports worker cancellation;
main-thread Python signals retain their exception type. Direct factorization
observes cancellation before and after its external call.
Both bulk APIs accept algorithm=LoopClosureAlgorithm.LSE_REDUCED_PCG (the
default), LSE_UNREDUCED_PCG, LSE_SPARSE_QR, or LSE_SPARSE_CHOLESKY. Import
LoopClosureAlgorithm from cave_closure; it is a Rust enum exposed through
PyO3. Standard Python builds include all four algorithms. Spatial and horizontal
modes select loop-closure dimensions independently of the algorithm.
The repository uses one Cargo package with Rust sources in src_rust/ and
Python sources in src_python/. The optional python feature enables the
bindings; Maturin enables it and all numerical backends for Python builds. Rust
consumers use the same library without enabling Python.
Release wheels use three ABI paths: abi3 for ordinary CPython, abi3t for
free-threaded CPython 3.15 and newer, and a version-specific legacy wheel for
free-threaded CPython 3.14. Python 3.14 predates the
free-threaded stable ABI and cannot load an
abi3t wheel. In .github/workflows/release.yml, MINIMUM_PYTHON_VERSION
selects the abi3 build interpreter and MINIMUM_FT_PYTHON_VERSION selects the
abi3t build interpreter; the legacy 3.14t build remains separate. The
corresponding ABI floors are declared by the abi3 and abi3t features in
Cargo.toml. CI continues to test each supported Python version, including both
free-threaded interpreters.
Run checks directly from this tree:
cargo test --locked --all-features
cargo fmt --all -- --check
cargo clippy --locked --workspace --all-targets --all-features -- -D warnings
uv run maturin build --features abi3 --out dist
uv run pytest
uv run --frozen python scripts/generate_stubs.py --check
Native Python stubs in src_python/cave_closure/_native/__init__.pyi are
generated from Rust using pyo3-stub-gen. Run
uv run --frozen python scripts/generate_stubs.py after changing a binding to
regenerate and format them. Add --check to compare without modifying files.
The generate-stubs pre-commit hook runs this check, including in CI.
src_python/cave_closure/__init__.pyi re-exports the generated API and
describes the Python helpers.
See measurement-based loop closure, the numerical contract, interchange contract, and artifact qualification. The persisted fixture corpus checks every solver against independent references. AGPL terms are in LICENSE.
1 maintainer
Metadata
1 maintainer
Release files for cave-closure 0.0.3
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