Configuration¶

Asset preprocessing uses YAML config files. All configs live under navarena_forge/configs/.

Config Structure¶

configs/
├── pipeline.yaml              # Full pipeline config
├── coordinate_normalize.yaml  # Standalone coordinate_normalize
├── pcd_to_map.yaml            # Standalone pcd_to_map
└── valid_region_estimate.yaml  # Standalone valid_region_estimate

pipeline.yaml (Full Pipeline)¶

Defines the three core steps and their parameters. The CLI batch/run-pipeline commands inject per-scene paths automatically.

steps:
  - name: coordinate_normalize
    enabled: true
    fatal: true
    params:
      input:
        ply_file: null       # Injected by CLI
      output:
        transformed_output: null
      ransac:
        distance_threshold: 0.02
        ransac_n: 3
        num_iterations: 1000
      height_range: [-0.05, 0.05]

  - name: pcd_to_map
    enabled: true
    fatal: true
    params:
      input:
        pcd_file: null
      output:
        pgm_file: null
        yaml_file: null
      map:
        resolution: 0.05
        margins: [1.0, 1.0, 1.0, 1.0]
      height_filter:
        min_z: 0.1
        max_z: 0.8

  - name: valid_region_estimate
    enabled: true
    fatal: false
    params:
      parameters:
        dbscan_eps: 5.0
        alpha: 0.6

Parameter Reference¶

coordinate_normalize¶

Parameter	Description	Default
`ransac.distance_threshold`	RANSAC ground fit distance (meters)	`0.02`
`ransac.num_iterations`	RANSAC iterations	`1000`
`height_range`	Ground point Z range	`[-0.05, 0.05]`

pcd_to_map¶

Parameter	Description	Default
`map.resolution`	Map resolution (meters per pixel)	`0.05`
`height_filter.min_z`	Height filter lower bound	`0.1`
`height_filter.max_z`	Height filter upper bound	`0.8`

valid_region_estimate¶

Parameter	Description	Default
`parameters.dbscan_eps`	DBSCAN neighborhood radius (meters)	`5.0`
`parameters.dbscan_min_samples`	DBSCAN min samples	`1000`
`parameters.alpha`	Alpha Shapes parameter	`0.6`

Running a Single Step¶

With run-step, provide the step’s standalone config and set input/output paths explicitly:

# coordinate_normalize.yaml
input:
  ply_file: /path/to/scene/source.ply

output:
  transformed_output: /path/to/scene/aligned.ply

ransac:
  distance_threshold: 0.02

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

See also: CLI Commands