CloudAnalyzer Web

Memory and Undo

Undo steps per history Undo budget per history (MiB, estimated) Memory warning threshold (MiB)

Clearing Undo keeps the current clouds and map. Main WASM memory stays allocated until reload. Estimates exclude browser overhead and render targets. Save your project before reloading.

Clouds

Max points per file

Projects reference original source files. Workspace snapshots include current clouds and meshes, pose-graph inputs and the original generated-map review package (256 MiB content limit). Unloaded cloud detail stays external. Reopening starts a fresh Undo history.

Generated maps

Open a review ZIP from your mapping agent. The point map and HD map share their original coordinates. Opening replaces the current HD map.

Auto save editing state in this browser Include current records and original inputs (64 MiB)

Checking browser recovery…

Keep original files and exported results. Browser copies can be cleared by the browser; download a project for a portable backup.

Drop PLY, PCD, LAS/LAZ, E57 or XYZ point clouds, OBJ/STL/PLY meshes, or TUM/KITTI/CSV trajectories, anywhere, or use Open… Files stay in your browser.

A LiDAR scene and a second scan of it; computes the cloud-to-cloud distance.

More demos, each loaded and analysed for you:

User guide

Scalar fields

Cloud Field

Min Max

Calculator

New field Expression

QA report

Map coverage & quality

Map

XY cell size (cloud units) Sparse below points/cell

XY projection combines heights. Enclosed empty cells are potential gaps, not confirmed missing survey data: buildings, occlusion and unmeasured areas can also be empty. This does not measure surface roughness or registration accuracy.

Reference / another pass

Volume uses reference as Before and source as After. In the volume panel, use a review area to select grid-cell centers; copy the distance-review rectangle when both analyses should use the same bounds.

Locate distance discrepancies

Distance above (cloud units) Grouping XY cell Min. exceeding points/region

Expected overlap area

Limit comparison to a world XY rectangle

Source → reference unsigned nearest distances only. Changes, occlusion and missing reference coverage can also produce large distances. Groups are XY inspection candidates, not confirmed registration defects. Threshold/cell edits reuse distances only while both loaded clouds remain unchanged. Cancellation discards diagnostics; an active C2C call may finish first.

Archived candidate reviews

Read past records without loading point clouds. No decisions are applied to current analysis. Keep the original JSON; this viewer is not saved in projects.

Load an aligned reference in the same coordinate frame to inspect map distances and completeness. Check comparison settings before computing. Coverage metrics also appear in QA report exports.

Views

Profile (cross-section)

Band width

Volume (cut / fill)

Before After

Review area

Limit volume to a world XY rectangle

Area name Saved areas

Up to 32 named rectangles, saved with projects or separately as JSON. Loading definitions replaces the saved list. Check coordinate frame and units before reuse. Area summaries use the same Before/After and options, add no point clouds, and are independent: overlapping areas must not be summed.

Includes cells whose centers are inside the rectangle, edges included. Each included cell contributes its full square area; boundary cells are not clipped. Grid and interpolation still use full loaded surfaces. Missing heights are excluded, not zero change. Copying bounds does not run either analysis.

Repeated visits by area

Visit surfaces

Select up to 8 loaded surfaces (Ctrl / Command to select several). Before is the fixed baseline; After is unused here. All saved areas and volume options apply. Initial order is loaded order. Check acquisition order and use the arrows below; dates are not inferred. Selections and results are not saved in projects.

Comparison cells

Common observed cells require loaded point clouds and interpolation off. Constant baselines and meshes are not raw point observations. Changing the visit selection can change both the shared grid and common support.

Also compute adjacent visit intervals

Intervals require at least two visits and common observed cells. Each consecutive pair is compared directly on the same mask, including the baseline's observed footprint.

Each-pair mode uses a shared grid but support can differ between visits, even with equal counts. Common mode uses identical observed cells. Totals are relative to the baseline; differences of gross fill/cut totals are not between-visit fill/cut.

Options

Cell size Cell height

Fill empty cells Coordinate unit

Units label the coordinates; no conversion. Use aligned ground surfaces for earthwork. This is a 2.5D height difference, not closed-solid volume. Undefined cells are excluded; interpolation is optional. Increase cell size or crop if the grid exceeds 1,000,000 cells.

Height-change screening

Screen single Before / After Screen saved areas and repeated visits (including intervals) Absolute height threshold

Set before computing. Strictly above / below ±threshold; equality stays within-band. Reports full differences in selected cells, not only excess. This is a user review criterion, not calibrated uncertainty or an M3C2 detection limit. Single-pair and saved-area/visit screening are separate opt-ins; the threshold is shared.

Visit / area	Fill	Cut	Net	Compared	Missing	Outside

Direct intervals (visit to visit)

Interval / area	Fill	Cut	Net	Compared	Uncompared	Outside

Interval results and the explicit visit order are included in visit summaries JSON. Intervals use every selected input's common mask, not each interval's larger pair-only support.

Standalone report with baseline and optional direct interval tables, input scope and calculation settings. No combined total; retain the JSON and separate common-cell mask for exact cell provenance.

Rasterize (DEM / DSM)

Cloud

Options

Cell size Cell height

Fill empty cells Hillshade the PNG

Saved height-cell reviews

Read saved height-cell reviews

Read-only records without point clouds. Maximum 64 MiB, 480 comparison lists and 50 cells per list. No decisions applied to current analysis or QA. Keep the original JSON and volume/grid/mask evidence.

Mesh (Delaunay 2.5D)

Cloud Max edge length

Ground surfaces with one height per XY position. Max edge limits long horizontal triangle edges; it does not prove every gap is preserved. For multiple height layers or vertical walls, crop/select the intended surface first.

Merge / split

Split By

Normals

Cloud

Neighbours Facing

Shown with the Normals and Hillshade color modes; saved as nx, ny, nz in PLY.

Shapes & clusters

Cloud Find

Max. distance Min. points Max. shapes

Output

For a scene, find planes first, then cylinders in the rest. The segment is kept as the source, so Merge / split can split it later.

Clipping box

Show only what is inside the box

COPC full-density box

Read every density level inside this box in original source coordinates. A point limit stops oversized selections.

Source X min max Y min max Z min max Point limit

Manual alignment

Moved Reference

Move by hand

Transform (row-major 4×4)

Registration (ICP)

Aligned Reference

Options

Metric

Max iterations Overlap %

Match centroids first

Pose graph (SLAM)

Open a folder with poses (a g2o graph, or a TUM / KITTI trajectory) and one scan per pose, named by frame number (000042.pcd, KITTI .bin, PLY, LAS…); or a ROS bag (.bag, .mcap) or scans without poses, which LiDAR odometry places first. Pick two nodes to close a loop with ICP, then optimise.

Loading options

Voxel Shown

σ odom. m σ odom. °

Range m – Keyframe m

Deskew scans Scan → pose frame

Scan colors Edges by error

Show scans Pose axes

Rate

Node A Node B

With the nodes after it

Loop options

Iterations Overlap %

σ loop m σ loop °

Robust loops Huber δ

Find loops automatically

Radius m Drift %

Min travel m

Spacing m Min overlap %

Inlier distance m Retry headings

IMU gravity

An IMU's roll and pitch give each keyframe's up direction. Tied to it, the path loses its tilt drift, and the height drift that follows, while hills stay hills. Pick a KITTI oxts folder (with calib_imu_to_velo.txt next to its files) or a text file of frame ux uy uz lines (up in scan coordinates).

σ tilt ° Estimate the IMU's mounting

Floor constraint

Keyframes are tied to one floor plane, which removes the tilt and height drift of odometry on flat sites (a car park, a floor of a building). On hills it flattens the path: leave it off there.

Up axis Max tilt °

Threshold m Min points

σ tilt ° σ height m

Join another graph

A second session of the same place (a folder, or a ROS bag): a node of it that stands near a node of this graph places the whole of it. Their scans are registered with ICP from several headings.

Node here Node there

Headings

Loops, worst first

No loop edges yet.

Error above

Map voxel

Analyse the map

Options

Window Margin m Votes

DEM cell m

Split at node

Lane follow-up tasks

Record a related lane for human follow-up. Decisions here do not edit the map. Project autosave includes saved task decisions. After reopening, use Resume saved task in Related map lanes to verify the source evidence before editing.

Saved survey reviews

Trajectories (ATE / RPE)

Open or drop TUM (.tum, .txt), KITTI (.kitti, .txt) or CSV trajectories to draw them and compare an estimate with a reference.

Estimate Reference Alignment

Options

Max time diff. RPE delta

RPE delta in

Vector map (Lanelet2)

Map display

Road surfaces Directions Boundaries Virtual boundaries Stops, crossings & signals Build evidence: source dots & inferred connectors Saved road-edge drafts (before trimming) Object labels

Point cloud brightness

Select a lane to highlight its incoming and outgoing connections. Signal faces show geometry, not lamp states. Crosswalk stripes are a display convention.

No build snapshot yet.

Edit boundary vertex height

Boundary Vertex

Use Edit vertices to select a yellow handle, or choose a boundary here.

New height Z (m)

Height uses the original map frame. Applying changes only this vertex's Z; X and Y stay fixed. Shared boundaries update every lane that uses them. Inspect the source points, then recheck source coverage. Undo restores the previous map.

Road options

Fit drawn paths to the point cloud

When fitting, trace the outside forward lane and choose its cloud under Build from a trajectory. The path, lane counts and nominal width are your inputs; points supply ground height and supported boundaries. Equipment can be searched after the roads are fitted.

Forward lanes Backward lanes

Lane width (m) Speed limit (km/h)

Boundary search margin (m)

For fitted roads, keep the search margin within 45% of lane width. Reduce it when narrowing lanes.

Piece length (m) Traffic keeps

Build from a trajectory

Point cloud Trajectory

Both inputs must use the same coordinates in metres. The trajectory follows the outside forward lane. Lane counts, widths and speed use Road options.

Fit road footprint to source points Anchor inferred lines to detected outer edges Align straight traces using paired curbs Infer lane edges inside distant curbs (width assumption) Correct the interior line using paint and paired curbs Fit straight lanes using paint candidates Paint-fit source

Applies to paint corridor/divider fits. Intensity uses local contrast; missing, ambiguous or unsupported paint keeps existing geometry. Counts and lane roles remain your inputs.

Anchor inferred lane widths to paint and curbs only Track continuous boundaries Reduce boundary jitter Check curb profiles Merge matching existing lanes

Search road equipment after building

Find road equipment automatically

Search using point-cloud brightness and geometry. No feature boxes are required. Proposals may be paint, signs, foliage or other objects; inspect points, discard false candidates, then confirm the type and lane IDs. Nearby lanes are suggestions only. Search uses retained points: load or export a full-density scene when the source display is sampled.

Point cloud Search region Search radius (m) Bright-point threshold (%) Show unconfirmed geometry

Confirmed type Confirmed lane IDs

Adding stores measured geometry and your classification. No lamp states, stop signs, automatic signal/stop-line links or legal priority are inferred. Map Undo restores geometry and lane assignments together.

Check map against source points

Check ground coverage along lane centres and both boundaries. Format checks can pass while a draft lacks source support. Missing or occluded returns need review; support does not prove correct lanes, clear roads or legal turns. Choose the original retained cloud in the same coordinate frame.

Point cloud

Source coverage has not been checked.

Draft junction connections

Point cloud Maximum gap (m) Minimum ground support (%) Check both boundaries against ground

Preview connections between open road ends in the cloud's coordinate frame. Ground under a centreline does not establish permitted turns or obstacle clearance. Review branches and traffic rules before adding a draft.

Measure a signal from points

Identify a signal head, excluding its pole and background. Segment it into a cloud, or enter a tight box in the original metre coordinates. This measures shape; confirm the object and controlled lanes. Lamps and stop lines need separate editing.

Point cloud

Min X Max X Min Y Max Y Min Z Max Z

Controlled lane IDs (comma separated) Identified kind

Measure crosswalk paint from points

Select a road-paint box in original metre coordinates. Retained RGB or intensity is required. Preview measured bands, identify the crossing and confirm its lane IDs before adding. Missing paint can shorten the observed footprint.

Point cloud

Min X Max X Min Y Max Y Min Z Max Z

Confirmed crossing lane IDs Bright-point threshold (% of ground contrast)

Lower the threshold to include dim paint. More background can pass; review the measured bands over full-density points.

Review equipment associations

Equipment rule

Select a candidate to highlight the signal, target and road context. Dashed links are preview only. Rejected candidates can be inspected; no target is adopted automatically.

Controlled / crossing lane IDs Stop line IDs

Choose targets explicitly after reviewing the map and source. Empty targets stay unresolved. Geometry and lamps are retained; control and phases are drafts.

Edit crossing, stop line or signal geometry

Feature

Vertex

X (m) Y (m) Z (m)

Coordinates use the original map frame. Drag keeps Z; numeric edits can change it. Observed paint, stored lamps and lane assignments stay at their original values. Review them after editing. Undo restores the complete previous map.

Lane review

Review queue

Lane	State	Notes

Click a lane to view it. CSV includes every lane and its saved decision and notes; save any changes in the editor first.

Distance (cloud or mesh)

Method Compared Reference Compute with