High Level Architecture#
Architectural Decisions#
Metron AI ArDaGen is based on NVIDIA Omniverse which performs all the work. ArDaGen is just a wrapper which defines a configuration of Omniverse Isaac Sim Replicator. On top of that it uses Meta’s Hydra configuration framework and reuses primitives from Metron Shared. Module and packages design adress easy and flexible configuration and follow high code standards.
Architectural Description (Package Diagram)#
The architecture is based on Linux OS, specifically Ubuntu running on NVIDIA GPU powered machine.
The solution is consisted only of one component which is consisted of eight modules.
Isaac Sim App#
It is a wrapper around Isaac Sim app from Omniverse platform. It provides basic app handle operations, such as application initialization and destruction.
Camera Rig#
Camera Rig defines camera setup, which could be in the simplest case just one camera. More complex cases might be stereo camera setup or 360 degree view. It defines also camera type, e.g. pinhole or fisheye with camera intrinsic parameters.
Synthesizer Worker#
It represents a 3D scene layer handler which contributes to the complete scene. For instance, it might represent a ground plane handler, lighting handler, foreground 3D objects handler for annotations generation, etc. It provides also a randomization of the contributed layer assets, so each generated artificial data record has a different placement of assets, materials, parameters, etc. See existing synthesizer workers overview for more details.
Master Synthesizer#
It manages multiple layer scenes, which create a whole scene, defined by a series of Synthesizer Workers.
Scenario#
Scenario represents a scenario, which means a scene with all assets, lighting, physics, etc. and camera rigs. It means that one scenario has one Master Synthesizer with various Synthesizer Workers and one or more Camera Rigs to record data with various optics and setup. See existing scenarios overview for more details.
Scenarios Manager#
In one run there can be multiple scenarios defines by Scenario, therefore Scenarios Manager orchestrates the execution of all Scenarios.
Writer#
It is a writer of generated artificial data. Basically it is a wrapper of Omniverse Isaac Sim Replicator writer. It saves data on the filesystem.
Replicator#
It is a handler of Omniverse Isaac Sim Replicator. It does the orchestration of execution of scenarios defines by Scenarios Manager inside sice Omniverse Isaac Sim Replicator. Generated data is saved via Writer.