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CLI Commands

Asset preprocessing exposes a command-line interface via navarena_forge. From the navarena-forge directory, run python -m navarena_forge.

Command Overview

Command Description
run-pipeline Run full pipeline on one scene
batch Batch process multiple scenes
run-step Run a single step
list-steps List all registered steps
migrate Migrate legacy format to V1
compress Batch convert PLY to .splat
convert-labels Convert labels.json to V1 format

run-pipeline

Run the full pipeline on a single scene directory.

python -m navarena_forge run-pipeline \
    --config pipeline.yaml \
    --scene-dir /path/to/scene \
    --source-dataset InteriorGS

Arguments

Argument Description
--config Required, pipeline YAML config path
--scene-dir Scene directory path
--input-ply Override input PLY path
--transformed-output Override normalized output path
--source-dataset Source dataset name for manifest and scene_id
--source-subset Source subset (optional)

batch

Batch-run the pipeline on all subdirectories under --scenes-root.

python -m navarena_forge batch \
    --scenes-root /path/to/scenes \
    --config pipeline.yaml \
    --source-dataset scannetpp

Arguments

Argument Description
--scenes-root Required, root directory of scenes
--config Required, pipeline config
--force Re-process already-completed scenes
--start Start scene name (inclusive)
--end End scene name (inclusive)
--source-dataset Source dataset name
--source-subset Source subset

Completed scenes (with aligned.ply, nav_map.pgm, nav_map.yaml) are skipped unless --force is used.

run-step

Run a single step only.

python -m navarena_forge run-step coordinate_normalize \
    --config coordinate_normalize.yaml \
    --scene-dir /path/to/scene

Arguments

Argument Description
step_name Step name (e.g. coordinate_normalize)
--config Step-level YAML config
--scene-dir Scene directory

list-steps

List all registered processing steps.

python -m navarena_forge list-steps

Example output:

  - coordinate_normalize
  - pcd_to_map
  - valid_region_estimate
  - compress_ply

migrate

Copy existing scenes into a new V1 directory with standard filenames and manifest.json.

python -m navarena_forge migrate \
    --scenes-root /path/to/old/scenes \
    --output-root /path/to/navarena_assets \
    --source-dataset InteriorGS

Arguments

Argument Description
--scenes-root Required, source scene root
--output-root Required, destination V1 assets root
--source-dataset Required, source dataset name
--dry-run Print planned changes only, do not copy
--start / --end Scene name range

compress

Batch-convert PLY files to compressed.splat in a V1 assets directory.

python -m navarena_forge compress \
    --assets-root /path/to/navarena_assets \
    --dataset scenesplat

Arguments

Argument Description
--assets-root Required, V1 assets root
--dataset Dataset subdirectory; if empty, scan assets-root
--opacity-threshold Prune low-opacity Gaussians (default -5.0)
--no-sort Disable importance-based sorting
--force Overwrite existing .splat
--dry-run Print plan only, do not write

convert-labels

Convert labels.json from legacy format to V1.

Single File

python -m navarena_forge convert-labels \
    --input /path/to/labels.json \
    [--output /path/to/output.json]

Batch

python -m navarena_forge convert-labels \
    --assets-root /path/to/navarena_assets \
    --dataset x2robot

Global Options

All commands support:

  • -v / --verbose — Enable debug logging

See also: Web Viewer