cli-anything-cloudanalyzer（CLI anything cloudanalyzer 命令行）

cli-anything-cloudanalyzer

Agent-friendly command-line harness for CloudAnalyzer — a QA platform for mapping, localization, and perception point cloud outputs.

27 commands across 8 groups.

Installation

pip install cli-anything-cloudanalyzer

Prerequisites:

• Python 3.10+
• CloudAnalyzer: pip install cloudanalyzer

Global Options

cli-anything-cloudanalyzer [--project FILE] [--json] COMMAND [ARGS]...

Command Groups

1. evaluate — Point Cloud Evaluation (6 commands)

evaluate run

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

evaluate compare

Compare two point clouds with optional registration.

cli-anything-cloudanalyzer evaluate compare src.pcd tgt.pcd --register gicp

Options: --register TEXT (icp/gicp/none)

evaluate diff

Quick distance statistics between two point clouds.

cli-anything-cloudanalyzer evaluate diff a.pcd b.pcd --threshold 0.1

evaluate batch

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

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

evaluate pipeline

Filter, downsample, evaluate in one command.

cli-anything-cloudanalyzer evaluate pipeline input.pcd reference.pcd -o output.pcd

2. trajectory — Trajectory Evaluation (3 commands)

trajectory evaluate

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

trajectory batch

Batch trajectory evaluation.

cli-anything-cloudanalyzer trajectory batch runs/ --reference-dir gt/ --max-drift 1.0

trajectory run-evaluate

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

3. check — Config-Driven Quality Gate (2 commands)

check run

Run unified QA from a config file.

cli-anything-cloudanalyzer --json check run cloudanalyzer.yaml

Options: --output-json TEXT

check init

Generate a starter config file.

cli-anything-cloudanalyzer check init cloudanalyzer.yaml --profile integrated

Options: --profile TEXT (mapping/localization/perception/integrated), --force

4. baseline — Baseline Evolution (3 commands)

baseline decision

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

baseline save

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

baseline list

List saved baselines.

cli-anything-cloudanalyzer --json baseline list --history-dir qa/history/

5. process — Point Cloud Processing (6 commands)

process downsample

Voxel grid downsampling.

cli-anything-cloudanalyzer process downsample cloud.pcd -o down.pcd -v 0.05

process sample

Random point sampling.

cli-anything-cloudanalyzer process sample cloud.pcd -o sampled.pcd -n 10000

process filter

Statistical outlier removal.

cli-anything-cloudanalyzer process filter cloud.pcd -o filtered.pcd

process split

Split point cloud into grid tiles (writes metadata.yaml).

cli-anything-cloudanalyzer process split large.pcd -o tiles/ -g 100

process merge

Merge multiple point clouds.

cli-anything-cloudanalyzer process merge a.pcd b.pcd -o merged.pcd

process convert

Convert between point cloud formats.

cli-anything-cloudanalyzer process convert input.las -o output.pcd

6. inspect — Visualization (3 commands)

inspect view

Open a point cloud viewer.

cli-anything-cloudanalyzer inspect view cloud.pcd

inspect web

Interactive browser inspection.

cli-anything-cloudanalyzer inspect web map.pcd ref.pcd --heatmap

inspect web-export

Export a static HTML inspection bundle.

cli-anything-cloudanalyzer inspect web-export map.pcd ref.pcd -o bundle/

7. info — Metadata (2 commands)

info show

Show point cloud metadata.

cli-anything-cloudanalyzer --json info show cloud.pcd

info version

Show CloudAnalyzer version.

8. session — Session Management (2 commands)

session new

Create a new harness project JSON file.

cli-anything-cloudanalyzer session new -o project.json -n my-run

session history

Show recent operations for the project given with -p / --project.

cli-anything-cloudanalyzer --project project.json session history --last 20

Typical Agent Workflows

Workflow 1: Evaluate and gate a point cloud

cli-anything-cloudanalyzer --json evaluate run output.pcd reference.pcd

Workflow 2: Config-driven QA pipeline

cli-anything-cloudanalyzer check init cloudanalyzer.yaml --profile integrated
cli-anything-cloudanalyzer --json check run cloudanalyzer.yaml

Workflow 3: Baseline management

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/

Workflow 4: Ground segmentation QA

cli-anything-cloudanalyzer --json evaluate ground \
  est_ground.pcd est_ng.pcd ref_ground.pcd ref_ng.pcd --min-f1 0.9