Classes

Presents segmentation and detection events emitted from VisionManager as well as raw video frames.

Displayed content depends on the current value of visualizationMode.

In Segmentation and Detections modes VisionPresentationViewController displays according events when VisionManager or VisionReplayManager is started.

In Clear mode raw video frames are displayed:

• in case of VisionManager: from VideoSource provided during VisionManager creation on new events,
• in case of VisionReplayManager: from recorded video when VisionReplayManager is started.

Cubic bezier spline in the world space.

Object representing the state of the camera. The precision of the camera properties depends on its calibration, so it’s recommended to use them when the Camera.isCalibrated value becomes true.

Intrinsic camera parameters representing the source of video frames.

Single result of object detection.

Single frame with meta information.

All detections for a single frame.

Segmentation result for a single frame.

All sign classifications for a single frame.

Coordinate in Mercator.

This coordinate system is used to locate an object’s geographic location as it would appear on a map. Examples include the GPS position of the ego-vehicle or the position of landmarks, which can be used for localization or position of the detected objects.

Currently we use Spherical Earth Model for geodesic calculations. Each point is specified using longitude, latitude.

Longitude ranges from -180 to 180 degrees, where 0 is Greenwich meridian, the positive direction (+) is to the East, and the negative direction (-) is to the West.

Latitude ranges from -90 to +90 degrees, where 0 is Equator, the positive direction (+) is to the North, and the negative direction (-) is to the South.

Object representing geographical coordinates.

Image object with attributes.

Size of an image.

Single lane object.

Lane edge description.

Represents pixel coordinates on image. Top left corner of an image has (x: 0, y: 0) coordinate.

This coordinate system is used to represent the position of an object relative to the frame. The origin is the left top corner of the frame. The position of an object is expressed as x, y.

Object aggregating information about road markup and road geometry.

Object representing available sign information.

Single result of sign instance classification.

Location of our vehicle with meta information.

Class that encapsulates image buffer and its format.

Point in the ISO coordinate system (unit is a meter).

This coordinate system is used to represent the position of an object relative to the device camera’s position in physical space. The origin of this coordinate system is a point projected from a camera position to a road plane.

Object aggregating information about objects and their position in the world around a vehicle. Description includes static and dynamic objects.

Description of the object in the world.

Object encapsulating work with camera device.

Helper class handling observers: storing, releasing, notifying. Observers are held weakly by the instance of the class. You may inherit your video source from this class to avoid handling observers yourself.

The main object for registering for events from the SDK, starting and stopping their delivery. It also provides some useful functions for performance configuration and data conversion.

Lifecycle of VisionManager :

1. create
2. start
3. startRecording (optional)
4. stopRecording (optional)
5. stop, then lifecycle may proceed with destroy or start
6. destroy

VisionReplayManager is a counterpart of VisionManager that uses recorded video and telemetry instead of realtime data. Use it to debug and test functions that use Vision in a development environment before testing in a vehicle. Use it in the same workflow as you use VisionManager after creating it with specific recorded session.

Lifecycle of VisionReplayManager :

1. create
2. start
3. stop, then lifecycle may proceed with destroy or start
4. destroy