HKUDS 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]...
| Option | Description |
|---|---|
-p, --project TEXT |
Path to project JSON file |
--json |
Output results as JSON (for agent consumption) |
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