Class Diagram Architecture

Software Class Architecture

classDiagram ScenariosManager o-- IsaacSimApp ScenariosManager *-- Scenario Scenario o-- IsaacSimApp Scenario *-- NullMasterSynthesizer Scenario *-- MasterSynthesizer Scenario *-- SingleCamera MasterSynthesizer o-- IsaacSimApp MasterSynthesizer *-- BaseSynthesizer OVWriter *-- NullWriter Writer <|-- OffsetWriter OVWriter *-- OffsetWriter OVReplicator o-- IsaacSimApp OVReplicator o-- OVWriter OVReplicator o-- ScenariosManager class IsaacSimApp{ +bool debug +app SimulationApp +update() None +close() None } class ScenariosManager{ +DictConfig scenarios +Iterator[Any] scenario_names +IsaacSimApp isaac_sim +__iter__() ScenariosManager +__next__() Scenario } class Scenario{ +IsaacSimApp isaac_sim +Union[NullMasterSynthesizer, MasterSynthesizer] master_synthesizer +str scenario_name +DictConfig scenario_dict_config +int frames_number +int frames_readout_offset +prepare(scenario_name) None +get_cameras() Generator[Tuple[List[Any], List[Any]], None, None] } class NullMasterSynthesizer{ +List[Any] synthesizers_worker_names +__iter__() Iterator[BaseSynthesizer] } class MasterSynthesizer{ +IsaacSimApp isaac_sim_app +List[BaseSynthesizer] synthesizers_workers +List[str] synthesizers_worker_names +__iter__() Iterator[BaseSynthesizer] -_instantiate_synthesizer_workers(synthesizer_workers, scenario_name) None } class BaseSynthesizer{ +str scenario_owner -str __name__ +__call__(camera_setup) None +get_prims() List[str] +register_synthesizers_prims(synthesizer_workers) None } class OVWriter{ +str fs_store_path +Union[NullWriter, Writer] +str writer_name +bool write_rgb +bool write_bounding_box_2d_tight +bool write_bounding_box_2d_loose +bool write_semantic_segmentation +bool write_instance_segmentation +bool write_distance_to_camera +bool write_distance_to_image_plane +bool write_bounding_box_3d +bool write_occlusion +bool write_normals +bool write_motion_vectors +bool write_camera_params +create(scenario_name, frames_readout_offset) str +attach(camera_renders) None } class NullWriter{ +create(scenario_name) str +attach(camera_renders) None +initialize(*args, **kwargs) None } class OffsetWriter{ -str __name__ -int _MAX_FRAMES_OFFSET -int _WRITER_NUMBERING_PADDING -str _output_dir -BackendDispatch _backend -int _frame_id -str _image_output_format -int _content_lifespan +List[Any] annotators +int frame_read_out_num +int content_lifespan_init_val -_write_rgb(fs_relative_path, annotator_data) None -_write_bounding_box_data(bbox_type, fs_relative_path, annotator_data) None -_write_camera_params(fs_relative_path, annotator_data) None -_write_instance_segmentation(fs_relative_path, annotator_data) None -_write_semantic_segmentation(fs_relative_path, annotator_data) None -_write_normals(fs_relative_path, annotator_data) None -_write_distance_to_camera(fs_relative_path, annotator_data) None -_write_distance_to_image_plane(fs_relative_path, annotator_data) None -_write_occlusion(fs_relative_path, annotator_data) None -_write_motion_vectors(fs_relative_path, annotator_data) None +write(data) None } class OVReplicator{ +omni.replicator.core ov_replicator +ScenariosManager scenarios_manager +OVWriter ov_writer +IsaacSimApp isaac_sim -_remove_camera(camera_setup, writer_name) None -_run_orchestration() None +__call__() None } class SingleCamera{ +List[float] position +List[float] rotation +List[float] clipping_range +List[int] cam_resolution +get_cameras() Generator[Tuple[List[Any], List[Any]], None, None] }

Synthesizer Workers Class Architecture

classDiagram BaseSynthesizer <|-- DummySynthesizer BaseSynthesizer <|-- GroundSynthesizer BaseSynthesizer <|-- ItemsScatterSynthesizer BaseSynthesizer <|-- LightSynthesizer BaseSynthesizer <|-- NVIDIASceneSynthesizer BaseSynthesizer <|-- SingleItemSynthesizer BaseSynthesizer <|-- OVAssetsSynthesizer class BaseSynthesizer{ +str scenario_owner -str __name__ +__call__(camera_setup) None +get_prims() List[str] +register_synthesizers_prims(synthesizer_workers) None } class DummySynthesizer{ +str scenario_owner -str __name__ -str _box_primitive_path +__call__(camera_setup) None +get_prims() List[str] +register_synthesizers_prims(synthesizer_workers) None } class GroundSynthesizer{ +str scenario_owner +List[str] materials_list -str __name__ -Any _stage -str _stage_plane_path -og.Node _plane_node +__call__(camera_setup) None +get_prims() List[str] +register_synthesizers_prims(synthesizer_workers) None } class ItemsScatterSynthesizer{ +str scenario_owner +List[str] placement_synths +str semantics +int number_of_assets_displayed_at_once +int assets_pool_size -str __name__ -List[str] _placement_prims -List[str] _scattered_prims +__call__(camera_setup) None +get_prims() List[str] +register_synthesizers_prims(synthesizer_workers) None } class LightSynthesizer{ +str scenario_owner +List[float] position +List[float] rotation +List[float] scale +str light_type -str __name__ -str _stage_light_path -og.node _light_node +__call__(camera_setup) None +get_prims() List[str] +register_synthesizers_prims(synthesizer_workers) None } class NVIDIASceneSynthesizer{ +str scenario_owner +str scene_path -str __name__ -og.Node _scene_node +__call__(camera_setup) None +get_prims() List[str] +register_synthesizers_prims(synthesizer_workers) None -_load_from_nucleus() Any } class SingleItemSynthesizer{ +str scenario_owner +List[float] position +str usd_path +str semantics -str __name__ -str _stage_prim_path +__call__(camera_setup) None +get_prims() List[str] +register_synthesizers_prims(synthesizer_workers) None } class OVAssetsSynthesizer{ +str scenario_owner +int assets_num_to_generate -str __name__ -Any _stage -List[og.Node] _created_assets -List[str] _created_assets_paths +__call__(camera_setup) None +get_prims() List[str] +register_synthesizers_prims(synthesizer_workers) None }