cli-anything-cloudanalyzer

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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.

面向Agent的CloudAnalyzer命令行工具包——CloudAnalyzer是一款用于地图绘制、定位和感知点云输出的QA平台。

涵盖8组共27个命令。

Installation

安装

bash

pip install cli-anything-cloudanalyzer

Prerequisites:

Python 3.10+
CloudAnalyzer:
```
pip install cloudanalyzer
```

bash

pip install cli-anything-cloudanalyzer

前置要求：

Python 3.10+
CloudAnalyzer：
```
pip install cloudanalyzer
```

Global Options

全局选项

bash

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)

bash

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

选项	描述
`-p, --project TEXT`	项目JSON文件路径
`--json`	以JSON格式输出结果（供Agent使用）

Command Groups

命令组

1. evaluate — Point Cloud Evaluation (6 commands)

1. evaluate — 点云评估（6个命令）

evaluate run

Evaluate a point cloud against a reference (Chamfer, F1, AUC, Hausdorff).

bash

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

Options:

--plot TEXT

--threshold FLOAT

将点云与参考点云进行评估（支持Chamfer、F1、AUC、Hausdorff指标）。

bash

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

选项：

--plot TEXT

--threshold FLOAT

evaluate compare

Compare two point clouds with optional registration.

bash

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

Options:

--register TEXT

(icp/gicp/none)

对比两个点云，可选配准功能。

bash

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

选项：

--register TEXT

（icp/gicp/none）

evaluate diff

Quick distance statistics between two point clouds.

bash

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

快速获取两个点云之间的距离统计数据。

bash

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

evaluate batch

Batch evaluation of multiple point clouds against a reference.

bash

cli-anything-cloudanalyzer --json evaluate batch results/ reference.pcd --min-auc 0.95

Options:

--min-auc FLOAT

--max-chamfer FLOAT

批量评估多个点云与参考点云的差异。

bash

cli-anything-cloudanalyzer --json evaluate batch results/ reference.pcd --min-auc 0.95

选项：

--min-auc FLOAT

--max-chamfer FLOAT

evaluate ground

Evaluate ground segmentation quality (precision, recall, F1, IoU).

bash

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

评估地面分割质量（支持精度、召回率、F1、IoU指标）。

bash

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

选项：

--voxel-size FLOAT

--min-precision FLOAT

--min-recall FLOAT

--min-f1 FLOAT

--min-iou FLOAT

evaluate pipeline

Filter, downsample, evaluate in one command.

bash

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

一站式完成过滤、下采样和评估操作。

bash

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

2. trajectory — Trajectory Evaluation (3 commands)

2. trajectory — 轨迹评估（3个命令）

trajectory evaluate

Evaluate estimated vs reference trajectory (ATE, RPE, drift, lateral, longitudinal).

bash

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

评估估计轨迹与参考轨迹的差异（支持ATE、RPE、漂移、横向、纵向指标）。

bash

cli-anything-cloudanalyzer --json trajectory evaluate est.csv gt.csv --max-ate 0.5 --max-lateral 0.3

选项：

--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.

bash

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

批量评估轨迹。

bash

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

trajectory run-evaluate

Integrated map + trajectory evaluation.

bash

cli-anything-cloudanalyzer trajectory run-evaluate map.pcd map_ref.pcd traj.csv traj_ref.csv

Options:

--min-auc FLOAT

--max-ate FLOAT

集成式地图+轨迹评估。

bash

cli-anything-cloudanalyzer trajectory run-evaluate map.pcd map_ref.pcd traj.csv traj_ref.csv

选项：

--min-auc FLOAT

--max-ate FLOAT

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

3. check — 配置驱动的质量门控（2个命令）

check run

Run unified QA from a config file.

bash

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

Options:

--output-json TEXT

通过配置文件执行统一QA检测。

bash

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

选项：

--output-json TEXT

check init

Generate a starter config file.

bash

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

Options:

--profile TEXT

(mapping/localization/perception/integrated),

--force

生成初始配置文件。

bash

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

选项：

--profile TEXT

（mapping/localization/perception/integrated）,

--force

4. baseline — Baseline Evolution (3 commands)

4. baseline — 基线演进（3个命令）

baseline decision

Decide whether to promote, keep, or reject a candidate baseline.

bash

cli-anything-cloudanalyzer --json baseline decision qa/summary.json --history-dir qa/history/

Options:

--history TEXT

(repeatable),

--history-dir TEXT

--output-json TEXT

决定是否升级、保留或拒绝候选基线。

bash

cli-anything-cloudanalyzer --json baseline decision qa/summary.json --history-dir qa/history/

选项：

--history TEXT

（可重复使用）,

--history-dir TEXT

--output-json TEXT

baseline save

Save a QA summary to the history directory.

bash

cli-anything-cloudanalyzer baseline save qa/summary.json --history-dir qa/history/ --keep 10

Options:

--history-dir TEXT

--label TEXT

--keep INTEGER

将QA摘要保存至历史目录。

bash

cli-anything-cloudanalyzer baseline save qa/summary.json --history-dir qa/history/ --keep 10

选项：

--history-dir TEXT

--label TEXT

--keep INTEGER

baseline list

List saved baselines.

bash

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

列出已保存的基线。

bash

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

5. process — Point Cloud Processing (6 commands)

5. process — 点云处理（6个命令）

process downsample

Voxel grid downsampling.

bash

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

体素网格下采样。

bash

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

process sample

Random point sampling.

bash

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

随机点采样。

bash

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

process filter

Statistical outlier removal.

bash

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

统计离群点移除。

bash

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

process split

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

bash

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

将点云分割为网格瓦片（生成metadata.yaml）。

bash

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

process merge

Merge multiple point clouds.

bash

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

合并多个点云。

bash

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

process convert

Convert between point cloud formats.

bash

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

点云格式转换。

bash

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

6. inspect — Visualization (3 commands)

6. inspect — 可视化（3个命令）

inspect view

Open a point cloud viewer.

bash

cli-anything-cloudanalyzer inspect view cloud.pcd

打开点云查看器。

bash

cli-anything-cloudanalyzer inspect view cloud.pcd

inspect web

Interactive browser inspection.

bash

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

交互式浏览器查看。

bash

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

inspect web-export

Export a static HTML inspection bundle.

bash

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

导出静态HTML查看包。

bash

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

7. info — Metadata (2 commands)

7. info — 元数据（2个命令）

info show

Show point cloud metadata.

bash

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

显示点云元数据。

bash

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

info version

Show CloudAnalyzer version.

显示CloudAnalyzer版本。

8. session — Session Management (2 commands)

8. session — 会话管理（2个命令）

session new

Create a new harness project JSON file.

bash

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

创建新的工具包项目JSON文件。

bash

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

session history

Show recent operations for the project given with

-p

--project

bash

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

显示通过

-p

--project

指定的项目的近期操作记录。

bash

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

Typical Agent Workflows

典型Agent工作流

Workflow 1: Evaluate and gate a point cloud

工作流1：评估点云并执行质量门控

bash

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

bash

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

Workflow 2: Config-driven QA pipeline

工作流2：配置驱动的QA流水线

bash

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

bash

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

Workflow 3: Baseline management

工作流3：基线管理

bash

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/

bash

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

工作流4：地面分割QA

bash

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

bash

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