feat(pipeline): add batch processing for scene graph construction

mini-nav/scenegraph/roomnode.py

@@ -10,3 +10,22 @@ class RoomNode:
     # 范围：不用复杂的 Polygon，用一个中心点+半径，或者简单的 3D BBox 足够了
     center: np.ndarray  # [x, y, z]
     bbox_extent: np.ndarray  # [dx, dy, dz] 用于快速判断一个点在不在房间里
+
+    def __post_init__(self):
+        self.center = np.asarray(self.center, dtype=np.float32)
+        self.bbox_extent = np.asarray(self.bbox_extent, dtype=np.float32)
+
+        if self.center.shape != (3,):
+            raise ValueError(f"center must have shape (3,), got {self.center.shape}")
+
+        if self.bbox_extent.shape != (3,):
+            raise ValueError(f"bbox_extent must have shape (3,), got {self.bbox_extent.shape}")
+
+        if not np.all(np.isfinite(self.center)):
+            raise ValueError("center must contain only finite values")
+
+        if not np.all(np.isfinite(self.bbox_extent)):
+            raise ValueError("bbox_extent must contain only finite values")
+
+        if np.any(self.bbox_extent < 0):
+            raise ValueError("bbox_extent must be non-negative")