CloudAnalyzer

Fix maps. Draft roads. See what changed.

A point cloud viewer and analyzer that runs in your browser. Repair SLAM maps, create vector-map drafts and compare surveys. Processing stays on your machine, powered by Rust and WebAssembly.

Fix SLAM maps

Open ROS bags, MCAP, scans, trajectories or g2o graphs. Build odometry, close loops and level maps with IMU gravity; inspect and edit with Undo.

• Find loops automatically or align selected keyframes with ICP.
• Join drives, adjust poses and export corrected clouds, KITTI / TUM poses and g2o.
• Save a project to resume maps, constraints and review notes.

Build vector maps

Draft roads from points and trajectories, review equipment proposals, and edit shared boundaries with Undo. Export Autoware Lanelet2 with vectormap-rs. Lane counts, object types and legal control require review.

Road drafting & fitting · Equipment discovery · Source quality · Evidence inspection

Clean and compare

Remove passing traffic, join surveys and inspect changes with M3C2. Score maps against a reference with accuracy, completeness, F1 and Chamfer. Review two-pass changes with alignment diagnostics, fixed-camera before/after views and saved human judgments that can be reopened and resumed against matching comparison contents. Inspect overlapping Lanelet2 lanes after confirming a shared coordinate frame, and save selected lanes as human follow-up tasks with source snapshots.

Measure point clouds

ICP, filtering, normals, meshing, DEM / DSM, scalar fields and trajectory ATE / RPE are also available. Explore the tools →

Open: PLY, PCD, LAS / LAZ, E57, XYZ, KITTI, OBJ / STL, 3DGS and COPC URLs. Save: PLY, LAS / LAZ, E57, CSV and session links. For large surveys, see display LOD vs full-density processing and resumable COPC tiles. Physical ten-billion-point processing remains unbenchmarked.

Try it

Demo	Explore
Real drive	ROS 2 bag, odometry, gravity and loops · 10 MB
Two seasons	Join and compare April / June drives · 19 MB
Loop closure	Find loops and inspect the correction
SLAM drive	Replay, close a loop, remove cars
Two scans	Measure cloud-to-cloud distance
Landslide	Inspect M3C2 changes
Stockpile	Measure cut / fill volume
Town	Extract ground

Or drop your files on the app.

Proven on real data

KITTI starts from KISS-ICP poses; correction adds loops and IMU gravity. The NCLT result uses loop closure.

Trajectory ATE (RMSE)	Before	Corrected
KITTI 00 · 3.7 km	22.3 m	5.8 m
KITTI 07	2.14 m	1.16 m
KITTI 09	16.4 m	2.3 m
NCLT 2012-04-29 · 3.2 km, SE(3)-aligned	4.83 m	1.64 m

KITTI map F1 at 0.3 m: 0.45 → 0.70 (07), 0.16 → 0.42 (09). Benchmark tutorial · Leaderboard

CLI and agents

The same Rust core runs natively through ca, with JSON metrics, HTML reports and CI pass/fail gates. Read bags, MCAP and rosbag2 SQLite without installing ROS.

pip install "cloudanalyzer[fast]"
ca posegraph-fix drive.mcap --out fixed/ --remove-dynamic --keyframe-spacing 1
ca web-view fixed/
ca posegraph-compare june/ december/ --here 1219 --there 850 --out changes/

AI agents over MCP can inspect inputs and run the same tools. Agent-driven mapping builds point-cloud maps and HD-road drafts from recordings and an explicit lane layout, with recorded choices and resumable repairs.

CLI reference · Commands · CI & quality gates · Mapping tools

Develop

cd web
npm install
npm run wasm
npm run dev

web/ — TypeScript / three.js app · rust/ — Rust core / WASM / Python bindings · cloudanalyzer/ — Python CLI

Tests: cargo test in rust/, npx playwright test in web/. Media: npm run media after npm run build in web/.

License

MIT. Demo data and derived images retain their upstream terms: image attribution · sample attribution. Real-drive imagery includes NCLT (University of Michigan, ODbL) and PandaSet (Scale AI and Hesai, CC BY 4.0). KITTI data is not redistributed.