cloudanalyzer 0.1.0__tar.gz

cloudanalyzer-0.1.0/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2026 rsasaki0109
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

cloudanalyzer-0.1.0/PKG-INFO

@@ -0,0 +1,303 @@
+Metadata-Version: 2.4
+Name: cloudanalyzer
+Version: 0.1.0
+Summary: CLI-first QA toolkit for point cloud, trajectory, and 3D perception outputs
+Author: rsasaki0109
+License-Expression: MIT
+Project-URL: Homepage, https://github.com/rsasaki0109/CloudAnalyzer
+Project-URL: Repository, https://github.com/rsasaki0109/CloudAnalyzer
+Project-URL: Issues, https://github.com/rsasaki0109/CloudAnalyzer/issues
+Project-URL: Documentation, https://github.com/rsasaki0109/CloudAnalyzer#readme
+Keywords: point-cloud,slam,lidar,trajectory,benchmark,qa,open3d
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Scientific/Engineering
+Classifier: Topic :: Scientific/Engineering :: GIS
+Classifier: Topic :: Scientific/Engineering :: Information Analysis
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: open3d>=0.17.0
+Requires-Dist: numpy>=1.24.0
+Requires-Dist: typer>=0.9.0
+Requires-Dist: matplotlib>=3.7.0
+Requires-Dist: PyYAML>=6.0
+Provides-Extra: dev
+Requires-Dist: build>=1.2.2; extra == "dev"
+Requires-Dist: mypy; extra == "dev"
+Requires-Dist: pkginfo>=1.12.0; extra == "dev"
+Requires-Dist: pytest; extra == "dev"
+Requires-Dist: twine>=6.0.0; extra == "dev"
+Dynamic: license-file
+
+# CloudAnalyzer
+
+AI-friendly CLI tool for point cloud analysis and evaluation.
+
+For the full product overview (Japanese), demos, and tutorials, see the [repository root README](https://github.com/rsasaki0109/CloudAnalyzer/blob/main/README.md).
+
+## Install
+
+From this directory (the Python package root):
+
+```bash
+pip install cloudanalyzer
+
+# latest from source
+git clone https://github.com/rsasaki0109/CloudAnalyzer.git
+cd CloudAnalyzer/cloudanalyzer
+pip install -e .
+
+# or with Docker
+docker build -t ca .
+docker run ca info cloud.pcd
+```
+
+## Release Sanity Check
+
+```bash
+python3 -m pip install -e .[dev]
+python3 -m build
+python3 -m twine check dist/*
+```
+
+## Commands
+
+There are **31** CLI subcommands (see `ca --help`). Summary:
+
+### Analysis & Evaluation
+
+| Command | Description |
+|---|---|
+| `ca compare` | Compare two point clouds with ICP/GICP registration |
+| `ca diff` | Quick distance stats (no registration) |
+| `ca evaluate` | F1, Chamfer, Hausdorff, AUC evaluation |
+| `ca check` | Config-driven unified QA (`cloudanalyzer.yaml`) |
+| `ca init-check` | Emit a starter `cloudanalyzer.yaml` profile |
+| `ca ground-evaluate` | Ground segmentation QA (precision/recall/F1/IoU, optional gates) |
+| `ca traj-evaluate` | ATE, translational RPE, drift evaluation for trajectories |
+| `ca traj-batch` | Batch trajectory benchmark with coverage, gate, and reports |
+| `ca run-evaluate` | Combined map + trajectory QA for one run |
+| `ca run-batch` | Combined map + trajectory benchmark across multiple runs |
+| `ca info` | Point cloud metadata (points, BBox, centroid) |
+| `ca stats` | Detailed statistics (density, spacing distribution) |
+| `ca batch` | Run info on all files in a directory |
+
+### Processing
+
+| Command | Description |
+|---|---|
+| `ca downsample` | Voxel grid downsampling |
+| `ca sample` | Random point sampling |
+| `ca filter` | Statistical outlier removal |
+| `ca merge` | Merge multiple point clouds |
+| `ca align` | Sequential registration + merge |
+| `ca split` | Split into grid tiles |
+| `ca convert` | Format conversion (pcd/ply/las) |
+| `ca normals` | Normal estimation |
+| `ca crop` | Bounding box crop |
+| `ca pipeline` | filter → downsample → evaluate in one step |
+
+### Visualization
+
+| Command | Description |
+|---|---|
+| `ca web` | Browser 3D viewer, with optional heatmap, reference overlay, and trajectory run overlay |
+| `ca web-export` | Write a static browser viewer bundle (for demos and sharing) |
+| `ca view` | Interactive 3D viewer |
+| `ca density-map` | 2D density heatmap image |
+| `ca heatmap3d` | 3D distance heatmap snapshot |
+
+### Baseline history
+
+| Command | Description |
+|---|---|
+| `ca baseline-save` | Save a QA summary JSON into a rotating history directory |
+| `ca baseline-list` | List baselines saved in a history directory |
+| `ca baseline-decision` | Promote / keep / reject a candidate baseline vs history |
+
+### Utility
+
+| Command | Description |
+|---|---|
+| `ca version` | Print CLI version |
+
+## Usage Examples
+
+```bash
+# === Evaluation ===
+# F1/Chamfer/Hausdorff evaluation with curve plot
+ca evaluate source.pcd reference.pcd \
+  -t 0.05,0.1,0.2,0.5,1.0 --plot f1_curve.png
+
+# Trajectory evaluation with quality gate
+ca traj-evaluate estimated.csv reference.csv \
+  --max-time-delta 0.05 --max-ate 0.5 --max-rpe 0.2 --max-drift 1.0 --min-coverage 0.9 \
+  --report trajectory_report.html
+# report also writes sibling trajectory overlay and error timeline PNGs
+
+# Ignore constant initial translation offset
+ca traj-evaluate estimated.csv reference.csv --align-origin
+
+# Fit a rigid transform before scoring
+ca traj-evaluate estimated.csv reference.csv --align-rigid
+
+# Batch trajectory benchmark
+ca traj-batch runs/ --reference-dir gt/ \
+  --max-time-delta 0.05 --max-ate 0.5 --max-rpe 0.2 --max-drift 1.0 --min-coverage 0.9 \
+  --report traj_batch.html
+# HTML report adds copyable inspection commands plus pass/failed/low-coverage filters and ATE/RPE/coverage sorting
+# low-coverage threshold follows --min-coverage when provided
+
+# Combined run QA: map + trajectory in one report
+ca run-evaluate map.pcd map_ref.pcd traj.csv traj_ref.csv \
+  --min-auc 0.95 --max-chamfer 0.02 \
+  --max-ate 0.5 --max-rpe 0.2 --max-drift 1.0 --min-coverage 0.9 \
+  --report run_report.html
+# inspection commands include a `ca web ... --trajectory ... --trajectory-reference ...` run viewer
+
+# Combined run batch QA
+ca run-batch maps/ \
+  --map-reference-dir map_refs/ \
+  --trajectory-dir trajs/ \
+  --trajectory-reference-dir traj_refs/ \
+  --min-auc 0.95 --max-chamfer 0.02 \
+  --max-ate 0.5 --max-rpe 0.2 --max-drift 1.0 --min-coverage 0.9 \
+  --report run_batch.html
+# HTML report adds pass/failed/map-issue/trajectory-issue filters and map/trajectory sorting
+# summary and CLI output also split map failures vs trajectory failures
+# inspection commands include both a per-run `ca web ...` run viewer and `ca run-evaluate ...` drill-down command
+
+# Full pipeline: filter → downsample → evaluate
+ca pipeline noisy.pcd reference.pcd -o clean.pcd -v 0.2
+
+# 3D distance heatmap
+ca heatmap3d estimated.pcd reference.pcd -o heatmap.png
+
+# Browser heatmap viewer with reference overlay and threshold filter
+ca web estimated.pcd reference.pcd --heatmap
+
+# Browser run viewer: map heatmap + trajectory overlay
+ca web map.pcd map_ref.pcd --heatmap \
+  --trajectory traj.csv --trajectory-reference traj_ref.csv
+# paired trajectory があると worst ATE pose と worst RPE segment を viewer 上で強調する
+# marker / segment をクリックすると timestamp と error summary を inspection panel に表示する
+# click 時は camera も選択箇所へ寄り、Reset View で全景に戻せる
+# trajectory error timeline も viewer 内に出て、point click で 3D selection と同期する
+
+# === Compare ===
+ca compare source.pcd target.pcd \
+  --register gicp --json result.json --report report.md \
+  --snapshot diff.png --threshold 0.1
+
+# Quick diff
+ca diff a.pcd b.pcd --threshold 0.05
+
+# === Processing ===
+# Split large map into 100m tiles
+ca split large_map.pcd -o tiles/ -g 100
+
+# Downsample
+ca downsample cloud.pcd -o down.pcd -v 0.05
+
+# Filter outliers
+ca filter raw.pcd -o clean.pcd -n 20 -s 2.0
+
+# Align multiple scans
+ca align scan1.pcd scan2.pcd scan3.pcd -o aligned.pcd -m gicp
+
+# Batch info
+ca batch /path/to/pcds/ -r
+
+# Batch evaluation
+ca batch /path/to/results/ --evaluate reference.pcd --format-json | jq '.[].auc'
+ca batch /path/to/results/ --evaluate reference.pcd --report batch_report.html
+# report includes inspection commands; HTML adds Copy buttons plus count-badged summary rows, quick actions, failed-first / recommended-first sort presets, and pass/failed/pareto/recommended controls
+ca batch decoded/ --evaluate reference.pcd --compressed-dir compressed/ --baseline-dir original/
+# report also emits a quality-vs-size scatter plot, Pareto candidates, a recommended point, failed-first / recommended-first sort presets, and HTML filters
+ca batch /path/to/results/ --evaluate reference.pcd --min-auc 0.95 --max-chamfer 0.02
+
+# Density heatmap
+ca density-map cloud.pcd -o density.png -r 1.0 -a z
+```
+
+## Global Options
+
+```bash
+ca --verbose ...    # Debug output (stderr)
+ca --quiet ...      # Suppress non-error output
+```
+
+## Output Options
+
+- `--output-json <path>` — Dump result as JSON file
+- `--format-json` — Print JSON to stdout for piping
+- `--plot <path>` — F1 curve plot (evaluate only)
+- `--report <path>` — Markdown/HTML report (`batch`, `traj-evaluate`, `traj-batch`, `run-evaluate`, `run-batch`)
+
+```bash
+# Pipe JSON to jq
+ca info cloud.pcd --format-json | jq '.num_points'
+ca evaluate a.pcd b.pcd --format-json | jq '.auc'
+```
+
+## CI quality gate
+
+Point cloud / trajectory / perception QA is usually driven by `ca check` and a `cloudanalyzer.yaml` config (see [docs/ci.md](https://github.com/rsasaki0109/CloudAnalyzer/blob/main/docs/ci.md) and the [map quality gate tutorial](https://github.com/rsasaki0109/CloudAnalyzer/blob/main/docs/tutorial-map-quality-gate.md)).
+
+In **this** GitHub repo, reusable workflows run the same gates in CI. Pin to a **tag or SHA** when calling them from another repository (not floating `@main`).
+
+```yaml
+jobs:
+  qa:
+    uses: rsasaki0109/CloudAnalyzer/.github/workflows/config-quality-gate.yml@main
+    with:
+      config_path: cloudanalyzer.yaml
+
+  baseline:
+    uses: rsasaki0109/CloudAnalyzer/.github/workflows/baseline-gate.yml@main
+    with:
+      config_path: cloudanalyzer.yaml
+      history_dir: qa/history
+```
+
+The repo also ships a [manual quality-gate workflow](https://github.com/rsasaki0109/CloudAnalyzer/actions) that accepts source/reference paths and thresholds for ad-hoc runs.
+
+## Python API
+
+```python
+from ca.evaluate import evaluate, plot_f1_curve
+from ca.plot import plot_multi_f1, heatmap3d
+from ca.pipeline import run_pipeline
+from ca.split import split
+from ca.info import get_info
+from ca.diff import run_diff
+from ca.downsample import downsample
+from ca.filter import filter_outliers
+
+# Evaluate
+result = evaluate("estimated.pcd", "reference.pcd")
+print(f"AUC: {result['auc']:.4f}, Chamfer: {result['chamfer_distance']:.4f}")
+plot_f1_curve(result, "f1_curve.png")
+
+# Compare multiple results
+results = [evaluate(f"v{v}.pcd", "ref.pcd") for v in [0.1, 0.2, 0.5]]
+plot_multi_f1(results, ["v0.1", "v0.2", "v0.5"], "comparison.png")
+
+# Pipeline
+result = run_pipeline("noisy.pcd", "reference.pcd", "clean.pcd", voxel_size=0.2)
+
+# Split
+result = split("large.pcd", "tiles/", grid_size=100.0)
+```
+
+## Supported Formats
+
+- `.pcd` (Point Cloud Data)
+- `.ply` (Polygon File Format)
+- `.las` (LiDAR)

cloudanalyzer-0.1.0/README.md

@@ -0,0 +1,266 @@
+# CloudAnalyzer
+
+AI-friendly CLI tool for point cloud analysis and evaluation.
+
+For the full product overview (Japanese), demos, and tutorials, see the [repository root README](https://github.com/rsasaki0109/CloudAnalyzer/blob/main/README.md).
+
+## Install
+
+From this directory (the Python package root):
+
+```bash
+pip install cloudanalyzer
+
+# latest from source
+git clone https://github.com/rsasaki0109/CloudAnalyzer.git
+cd CloudAnalyzer/cloudanalyzer
+pip install -e .
+
+# or with Docker
+docker build -t ca .
+docker run ca info cloud.pcd
+```
+
+## Release Sanity Check
+
+```bash
+python3 -m pip install -e .[dev]
+python3 -m build
+python3 -m twine check dist/*
+```
+
+## Commands
+
+There are **31** CLI subcommands (see `ca --help`). Summary:
+
+### Analysis & Evaluation
+
+| Command | Description |
+|---|---|
+| `ca compare` | Compare two point clouds with ICP/GICP registration |
+| `ca diff` | Quick distance stats (no registration) |
+| `ca evaluate` | F1, Chamfer, Hausdorff, AUC evaluation |
+| `ca check` | Config-driven unified QA (`cloudanalyzer.yaml`) |
+| `ca init-check` | Emit a starter `cloudanalyzer.yaml` profile |
+| `ca ground-evaluate` | Ground segmentation QA (precision/recall/F1/IoU, optional gates) |
+| `ca traj-evaluate` | ATE, translational RPE, drift evaluation for trajectories |
+| `ca traj-batch` | Batch trajectory benchmark with coverage, gate, and reports |
+| `ca run-evaluate` | Combined map + trajectory QA for one run |
+| `ca run-batch` | Combined map + trajectory benchmark across multiple runs |
+| `ca info` | Point cloud metadata (points, BBox, centroid) |
+| `ca stats` | Detailed statistics (density, spacing distribution) |
+| `ca batch` | Run info on all files in a directory |
+
+### Processing
+
+| Command | Description |
+|---|---|
+| `ca downsample` | Voxel grid downsampling |
+| `ca sample` | Random point sampling |
+| `ca filter` | Statistical outlier removal |
+| `ca merge` | Merge multiple point clouds |
+| `ca align` | Sequential registration + merge |
+| `ca split` | Split into grid tiles |
+| `ca convert` | Format conversion (pcd/ply/las) |
+| `ca normals` | Normal estimation |
+| `ca crop` | Bounding box crop |
+| `ca pipeline` | filter → downsample → evaluate in one step |
+
+### Visualization
+
+| Command | Description |
+|---|---|
+| `ca web` | Browser 3D viewer, with optional heatmap, reference overlay, and trajectory run overlay |
+| `ca web-export` | Write a static browser viewer bundle (for demos and sharing) |
+| `ca view` | Interactive 3D viewer |
+| `ca density-map` | 2D density heatmap image |
+| `ca heatmap3d` | 3D distance heatmap snapshot |
+
+### Baseline history
+
+| Command | Description |
+|---|---|
+| `ca baseline-save` | Save a QA summary JSON into a rotating history directory |
+| `ca baseline-list` | List baselines saved in a history directory |
+| `ca baseline-decision` | Promote / keep / reject a candidate baseline vs history |
+
+### Utility
+
+| Command | Description |
+|---|---|
+| `ca version` | Print CLI version |
+
+## Usage Examples
+
+```bash
+# === Evaluation ===
+# F1/Chamfer/Hausdorff evaluation with curve plot
+ca evaluate source.pcd reference.pcd \
+  -t 0.05,0.1,0.2,0.5,1.0 --plot f1_curve.png
+
+# Trajectory evaluation with quality gate
+ca traj-evaluate estimated.csv reference.csv \
+  --max-time-delta 0.05 --max-ate 0.5 --max-rpe 0.2 --max-drift 1.0 --min-coverage 0.9 \
+  --report trajectory_report.html
+# report also writes sibling trajectory overlay and error timeline PNGs
+
+# Ignore constant initial translation offset
+ca traj-evaluate estimated.csv reference.csv --align-origin
+
+# Fit a rigid transform before scoring
+ca traj-evaluate estimated.csv reference.csv --align-rigid
+
+# Batch trajectory benchmark
+ca traj-batch runs/ --reference-dir gt/ \
+  --max-time-delta 0.05 --max-ate 0.5 --max-rpe 0.2 --max-drift 1.0 --min-coverage 0.9 \
+  --report traj_batch.html
+# HTML report adds copyable inspection commands plus pass/failed/low-coverage filters and ATE/RPE/coverage sorting
+# low-coverage threshold follows --min-coverage when provided
+
+# Combined run QA: map + trajectory in one report
+ca run-evaluate map.pcd map_ref.pcd traj.csv traj_ref.csv \
+  --min-auc 0.95 --max-chamfer 0.02 \
+  --max-ate 0.5 --max-rpe 0.2 --max-drift 1.0 --min-coverage 0.9 \
+  --report run_report.html
+# inspection commands include a `ca web ... --trajectory ... --trajectory-reference ...` run viewer
+
+# Combined run batch QA
+ca run-batch maps/ \
+  --map-reference-dir map_refs/ \
+  --trajectory-dir trajs/ \
+  --trajectory-reference-dir traj_refs/ \
+  --min-auc 0.95 --max-chamfer 0.02 \
+  --max-ate 0.5 --max-rpe 0.2 --max-drift 1.0 --min-coverage 0.9 \
+  --report run_batch.html
+# HTML report adds pass/failed/map-issue/trajectory-issue filters and map/trajectory sorting
+# summary and CLI output also split map failures vs trajectory failures
+# inspection commands include both a per-run `ca web ...` run viewer and `ca run-evaluate ...` drill-down command
+
+# Full pipeline: filter → downsample → evaluate
+ca pipeline noisy.pcd reference.pcd -o clean.pcd -v 0.2
+
+# 3D distance heatmap
+ca heatmap3d estimated.pcd reference.pcd -o heatmap.png
+
+# Browser heatmap viewer with reference overlay and threshold filter
+ca web estimated.pcd reference.pcd --heatmap
+
+# Browser run viewer: map heatmap + trajectory overlay
+ca web map.pcd map_ref.pcd --heatmap \
+  --trajectory traj.csv --trajectory-reference traj_ref.csv
+# paired trajectory があると worst ATE pose と worst RPE segment を viewer 上で強調する
+# marker / segment をクリックすると timestamp と error summary を inspection panel に表示する
+# click 時は camera も選択箇所へ寄り、Reset View で全景に戻せる
+# trajectory error timeline も viewer 内に出て、point click で 3D selection と同期する
+
+# === Compare ===
+ca compare source.pcd target.pcd \
+  --register gicp --json result.json --report report.md \
+  --snapshot diff.png --threshold 0.1
+
+# Quick diff
+ca diff a.pcd b.pcd --threshold 0.05
+
+# === Processing ===
+# Split large map into 100m tiles
+ca split large_map.pcd -o tiles/ -g 100
+
+# Downsample
+ca downsample cloud.pcd -o down.pcd -v 0.05
+
+# Filter outliers
+ca filter raw.pcd -o clean.pcd -n 20 -s 2.0
+
+# Align multiple scans
+ca align scan1.pcd scan2.pcd scan3.pcd -o aligned.pcd -m gicp
+
+# Batch info
+ca batch /path/to/pcds/ -r
+
+# Batch evaluation
+ca batch /path/to/results/ --evaluate reference.pcd --format-json | jq '.[].auc'
+ca batch /path/to/results/ --evaluate reference.pcd --report batch_report.html
+# report includes inspection commands; HTML adds Copy buttons plus count-badged summary rows, quick actions, failed-first / recommended-first sort presets, and pass/failed/pareto/recommended controls
+ca batch decoded/ --evaluate reference.pcd --compressed-dir compressed/ --baseline-dir original/
+# report also emits a quality-vs-size scatter plot, Pareto candidates, a recommended point, failed-first / recommended-first sort presets, and HTML filters
+ca batch /path/to/results/ --evaluate reference.pcd --min-auc 0.95 --max-chamfer 0.02
+
+# Density heatmap
+ca density-map cloud.pcd -o density.png -r 1.0 -a z
+```
+
+## Global Options
+
+```bash
+ca --verbose ...    # Debug output (stderr)
+ca --quiet ...      # Suppress non-error output
+```
+
+## Output Options
+
+- `--output-json <path>` — Dump result as JSON file
+- `--format-json` — Print JSON to stdout for piping
+- `--plot <path>` — F1 curve plot (evaluate only)
+- `--report <path>` — Markdown/HTML report (`batch`, `traj-evaluate`, `traj-batch`, `run-evaluate`, `run-batch`)
+
+```bash
+# Pipe JSON to jq
+ca info cloud.pcd --format-json | jq '.num_points'
+ca evaluate a.pcd b.pcd --format-json | jq '.auc'
+```
+
+## CI quality gate
+
+Point cloud / trajectory / perception QA is usually driven by `ca check` and a `cloudanalyzer.yaml` config (see [docs/ci.md](https://github.com/rsasaki0109/CloudAnalyzer/blob/main/docs/ci.md) and the [map quality gate tutorial](https://github.com/rsasaki0109/CloudAnalyzer/blob/main/docs/tutorial-map-quality-gate.md)).
+
+In **this** GitHub repo, reusable workflows run the same gates in CI. Pin to a **tag or SHA** when calling them from another repository (not floating `@main`).
+
+```yaml
+jobs:
+  qa:
+    uses: rsasaki0109/CloudAnalyzer/.github/workflows/config-quality-gate.yml@main
+    with:
+      config_path: cloudanalyzer.yaml
+
+  baseline:
+    uses: rsasaki0109/CloudAnalyzer/.github/workflows/baseline-gate.yml@main
+    with:
+      config_path: cloudanalyzer.yaml
+      history_dir: qa/history
+```
+
+The repo also ships a [manual quality-gate workflow](https://github.com/rsasaki0109/CloudAnalyzer/actions) that accepts source/reference paths and thresholds for ad-hoc runs.
+
+## Python API
+
+```python
+from ca.evaluate import evaluate, plot_f1_curve
+from ca.plot import plot_multi_f1, heatmap3d
+from ca.pipeline import run_pipeline
+from ca.split import split
+from ca.info import get_info
+from ca.diff import run_diff
+from ca.downsample import downsample
+from ca.filter import filter_outliers
+
+# Evaluate
+result = evaluate("estimated.pcd", "reference.pcd")
+print(f"AUC: {result['auc']:.4f}, Chamfer: {result['chamfer_distance']:.4f}")
+plot_f1_curve(result, "f1_curve.png")
+
+# Compare multiple results
+results = [evaluate(f"v{v}.pcd", "ref.pcd") for v in [0.1, 0.2, 0.5]]
+plot_multi_f1(results, ["v0.1", "v0.2", "v0.5"], "comparison.png")
+
+# Pipeline
+result = run_pipeline("noisy.pcd", "reference.pcd", "clean.pcd", voxel_size=0.2)
+
+# Split
+result = split("large.pcd", "tiles/", grid_size=100.0)
+```
+
+## Supported Formats
+
+- `.pcd` (Point Cloud Data)
+- `.ply` (Polygon File Format)
+- `.las` (LiDAR)

cloudanalyzer-0.1.0/ca/__init__.py

@@ -0,0 +1,3 @@
+"""CloudAnalyzer - AI-friendly CLI tool for point cloud analysis."""
+
+__version__ = "0.1.0"

cloudanalyzer-0.1.0/ca/align.py

@@ -0,0 +1,60 @@
+"""Sequential registration and merge (align multiple scans)."""
+
+import open3d as o3d
+
+from ca.io import load_point_cloud
+from ca.registration import register
+
+
+def align(
+    paths: list[str],
+    output_path: str,
+    method: str = "gicp",
+    max_correspondence_distance: float = 1.0,
+) -> dict:
+    """Align multiple point clouds sequentially and merge.
+
+    The first cloud is the reference. Each subsequent cloud is registered
+    to the accumulated result, then merged.
+
+    Args:
+        paths: List of point cloud file paths (>= 2).
+        output_path: Output file path for merged result.
+        method: Registration method ("icp" or "gicp").
+        max_correspondence_distance: Max correspondence distance.
+
+    Returns:
+        Dict with per-step registration results and total points.
+
+    Raises:
+        ValueError: If fewer than 2 paths are given.
+    """
+    if len(paths) < 2:
+        raise ValueError("At least 2 point clouds are required for alignment")
+
+    accumulated = load_point_cloud(paths[0])
+    steps = []
+
+    for i, path in enumerate(paths[1:], start=1):
+        source = load_point_cloud(path)
+        transformed, fitness, rmse = register(
+            source, accumulated, method=method,
+            max_correspondence_distance=max_correspondence_distance,
+        )
+        steps.append({
+            "step": i,
+            "path": path,
+            "fitness": fitness,
+            "rmse": rmse,
+        })
+        accumulated += transformed
+
+    o3d.io.write_point_cloud(output_path, accumulated)
+
+    return {
+        "output": output_path,
+        "total_points": len(accumulated.points),
+        "num_inputs": len(paths),
+        "method": method,
+        "steps": steps,
+    }