AnySense vs Pointclouds Viewer

AnySense is an open-source iPhone app that enables multi-sensory data collection by integrating the iPhone's sensory suite with external sensors via Bluetooth and wired interfaces, enabling both offline data collection and online streaming to robots. The app also supports on-device policy evaluation: you can load a trained CoreML policy, set a 3D goal in AR, and run the policy with AR visualization of predicted actions without a robot. We record RGB and depth videos, metric depth frames, streamed Bluetooth data (e.g. from tactile sensors) into a binary file, and timestamped pose data as a `.txt` file. Example streaming code for Bluetooth data can be found on AnySkin. USB streaming is supported by connecting the iPhone to your computer and using the library - https://github.com/NYU-robot-learning/anysense-streaming.

Pointclouds Viewer opens laser scans and BIM models on your Mac, iPad and iPhone — measure them, cut sections, see where the building differs from the design, and export the results. Everything happens on the device: no account, no upload, no network connection of any kind. FORMATS • E57 with registered scan setups, colour, intensity and spherical photographs • LAS and LAZ 1.0 to 1.4, with colour, intensity and classification; COPC opens as the LAZ it is • PLY, ASCII and binary; PTS and PTX; XYZ and TXT with intensity or RGB columns • IFC models, also zipped or gzipped; USDZ, USD, OBJ, STL, glTF and GLB • DXF floor plans laid under the scan, with the drawing's layers to switch off • A whole job at once: several files, a folder or a zip become one project Import turns a scan into an offline project on the device and never modifies the original. Reading is streamed: a scan of over a hundred million points imports within a few tens of megabytes, and detail is chosen for the current view. EVERYTHING IN ONE PROJECT The Scene panel lists what a project holds: the point cloud and each of its scans, every model file, floor plans and places. Show, hide, colour and look at each one on its own — give every scan setup its own colour to check how they were registered. Scans can be added to a project later, and several model files are shown together. THE SCAN AGAINST THE MODEL • Every point coloured by its distance to the model, with a tolerance you set • Which elements the scan shows as built, which are missing, and where it never went • The elements built out of tolerance, listed • Place a model by pairs of corners, by the walls in the scan, or where its georeference says • Measure from the scan to a surface of the model THE MODEL Browse elements by storey, class or file and find them by name, class, GlobalId or property. Select them in the view or by rectangle, colour them, keep your own groups. Read every property, including what an element inherits from its type. Check a model against IDS: what fails is listed, and each failure can become a note. MEASURE • Distance with its horizontal and vertical parts, and height straight up • Face to face: wall thickness, clear width, clear height • The shortest distance between two elements, or from an element to the scan • Polylines, angles and best-fit areas • Notes anchored to a point or an element • Every pick is verified against the cloud at full resolution; an uncertain one is refused SECTIONS AND ROOMS A box you move, turn and reshape by dragging, a plane or a slice. Where a cut passes through the model, its solids are filled and hatched and its outline drawn. Save a cut with its view under a name — Kitchen — and return to it. SEEING THE SCAN RGB, intensity, classification, a heatmap, or elevation over the whole scan or over a band of a few centimetres — to see where a floor sags or a wall leans. A horizontal grid, views from all six sides, and panoramas from the scanner's own position. ISSUES IN BCF Notes leave as BCF topics with a viewpoint, the element they are on and what the view hides, and BCF files from other tools open as notes. EXPORT CSV, JSON with sections, BCF, a PNG snapshot, and what is inside a section as a LAS file. FREE AND PRO The app is free and keeps one project. Pro removes that limit for a single payment. No subscription, and projects you already have stay open either way. WHAT IT DOES NOT DO Point data is not edited, scans are not registered, and there is no AR. Clouds in two different coordinate systems are not brought into one. Models you open are read, never modified. The interface is available in English and Czech.