Evaluate 3D point clouds and movement trajectories against reference data with CloudAnalyzer. Prepare inputs, measure differences, apply quality thresholds, inspect results visually, and track baseline history for mapping, localization, and perception workflows.
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Command-line interface for CloudAnalyzer — Agent-friendly harness for CloudAnalyzer, a QA platform for mapping, localization, and perception outputs. Supports 27 commands across 8 groups: point cloud evaluation, trajectory evaluation, ground segmentation QA, config-driven quality gates, baseline evolution, processing, visualization, and interactive REPL.
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Agent-friendly command-line harness for CloudAnalyzer — a QA platform for mapping, localization, and perception point cloud outputs.
27 commands across 8 groups.
pip install cli-anything-cloudanalyzer
Prerequisites:
pip install cloudanalyzercli-anything-cloudanalyzer [--project FILE] [--json] COMMAND [ARGS]...
| Option | Description |
|---|---|
-p, --project TEXT | Path to project JSON file |
--json | Output results as JSON (for agent consumption) |
Evaluate a point cloud against a reference (Chamfer, F1, AUC, Hausdorff).
cli-anything-cloudanalyzer evaluate run source.pcd reference.pcd
cli-anything-cloudanalyzer --json evaluate run source.pcd reference.pcd
Options: --plot TEXT, --threshold FLOAT
Compare two point clouds with optional registration.
cli-anything-cloudanalyzer evaluate compare src.pcd tgt.pcd --register gicp
Options: --register TEXT (icp/gicp/none)
Quick distance statistics between two point clouds.
cli-anything-cloudanalyzer evaluate diff a.pcd b.pcd --threshold 0.1
Batch evaluation of multiple point clouds against a reference.
cli-anything-cloudanalyzer --json evaluate batch results/ reference.pcd --min-auc 0.95
Options: --min-auc FLOAT, --max-chamfer FLOAT
Evaluate ground segmentation quality (precision, recall, F1, IoU).
cli-anything-cloudanalyzer --json evaluate ground est_ground.pcd est_ng.pcd ref_ground.pcd ref_ng.pcd --min-f1 0.9
Options: --voxel-size FLOAT, --min-precision FLOAT, --min-recall FLOAT, --min-f1 FLOAT, --min-iou FLOAT
Filter, downsample, evaluate in one command.
cli-anything-cloudanalyzer evaluate pipeline input.pcd reference.pcd -o output.pcd
Evaluate estimated vs reference trajectory (ATE, RPE, drift, lateral, longitudinal).
cli-anything-cloudanalyzer --json trajectory evaluate est.csv gt.csv --max-ate 0.5 --max-lateral 0.3
Options: --max-ate FLOAT, --max-rpe FLOAT, --max-drift FLOAT, --min-coverage FLOAT, --max-lateral FLOAT, --max-longitudinal FLOAT, --align-origin, --align-rigid
Batch trajectory evaluation.
cli-anything-cloudanalyzer trajectory batch runs/ --reference-dir gt/ --max-drift 1.0
Integrated map + trajectory evaluation.
cli-anything-cloudanalyzer trajectory run-evaluate map.pcd map_ref.pcd traj.csv traj_ref.csv
Options: --min-auc FLOAT, --max-ate FLOAT
Run unified QA from a config file.
cli-anything-cloudanalyzer --json check run cloudanalyzer.yaml
Options: --output-json TEXT
Generate a starter config file.
cli-anything-cloudanalyzer check init cloudanalyzer.yaml --profile integrated
Options: --profile TEXT (mapping/localization/perception/integrated), --force
Decide whether to promote, keep, or reject a candidate baseline.
cli-anything-cloudanalyzer --json baseline decision qa/summary.json --history-dir qa/history/
Options: --history TEXT (repeatable), --history-dir TEXT, --output-json TEXT
Save a QA summary to the history directory.
cli-anything-cloudanalyzer baseline save qa/summary.json --history-dir qa/history/ --keep 10
Options: --history-dir TEXT, --label TEXT, --keep INTEGER
List saved baselines.
cli-anything-cloudanalyzer --json baseline list --history-dir qa/history/
Voxel grid downsampling.
cli-anything-cloudanalyzer process downsample cloud.pcd -o down.pcd -v 0.05
Random point sampling.
cli-anything-cloudanalyzer process sample cloud.pcd -o sampled.pcd -n 10000
Statistical outlier removal.
cli-anything-cloudanalyzer process filter cloud.pcd -o filtered.pcd
Split point cloud into grid tiles (writes metadata.yaml).
cli-anything-cloudanalyzer process split large.pcd -o tiles/ -g 100
Merge multiple point clouds.
cli-anything-cloudanalyzer process merge a.pcd b.pcd -o merged.pcd
Convert between point cloud formats.
cli-anything-cloudanalyzer process convert input.las -o output.pcd
Open a point cloud viewer.
cli-anything-cloudanalyzer inspect view cloud.pcd
Interactive browser inspection.
cli-anything-cloudanalyzer inspect web map.pcd ref.pcd --heatmap
Export a static HTML inspection bundle.
cli-anything-cloudanalyzer inspect web-export map.pcd ref.pcd -o bundle/
Show point cloud metadata.
cli-anything-cloudanalyzer --json info show cloud.pcd
Show CloudAnalyzer version.
Create a new harness project JSON file.
cli-anything-cloudanalyzer session new -o project.json -n my-run
Show recent operations for the project given with -p / --project.
cli-anything-cloudanalyzer --project project.json session history --last 20
cli-anything-cloudanalyzer --json evaluate run output.pcd reference.pcd
cli-anything-cloudanalyzer check init cloudanalyzer.yaml --profile integrated
cli-anything-cloudanalyzer --json check run cloudanalyzer.yaml
cli-anything-cloudanalyzer --json check run cloudanalyzer.yaml --output-json qa/summary.json
cli-anything-cloudanalyzer baseline save qa/summary.json --history-dir qa/history/
cli-anything-cloudanalyzer --json baseline decision qa/summary.json --history-dir qa/history/
cli-anything-cloudanalyzer --json evaluate ground \
est_ground.pcd est_ng.pcd ref_ground.pcd ref_ng.pcd --min-f1 0.9
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