Basic blue-line AR navigation

import UIKit
import MapboxVision
import MapboxVisionAR
import MapboxDirections
import MapboxCoreNavigation
* "AR Navigation" example demonstrates how to display navigation route projected on the surface of the road.
class ARNavigationViewController: UIViewController {
private var videoSource: CameraVideoSource!
private var visionManager: VisionManager!
private var visionARManager: VisionARManager!
private let visionARViewController = VisionARViewController()
override func viewDidLoad() {
// create a video source obtaining buffers from camera module
videoSource = CameraVideoSource()
videoSource.add(observer: self)
// create VisionManager with video source
visionManager = VisionManager.create(videoSource: videoSource)
// create VisionARManager and register as its delegate to receive AR related events
visionARManager = VisionARManager.create(visionManager: visionManager, delegate: self)
let origin = CLLocationCoordinate2D()
let destination = CLLocationCoordinate2D()
let options = NavigationRouteOptions(coordinates: [origin, destination], profileIdentifier: .automobile)
// query a navigation route between location coordinates and pass it to VisionARManager
Directions.shared.calculate(options) { [weak self] (waypoints, routes, error) in
guard let route = routes?.first else { return }
self?.visionARManager.set(route: Route(route: route))
override func viewWillAppear(_ animated: Bool) {
override func viewDidDisappear(_ animated: Bool) {
// free up resources by destroying modules when they're not longer used
private func addARView() {
visionARViewController.didMove(toParent: self)
extension ARNavigationViewController: VisionARManagerDelegate {
func visionARManager(_ visionARManager: VisionARManager, didUpdateARCamera camera: ARCamera) {
DispatchQueue.main.async { [weak self] in
// pass the camera parameters for projection calculation
self?.visionARViewController.present(camera: camera)
func visionARManager(_ visionARManager: VisionARManager, didUpdateARLane lane: ARLane?) {
DispatchQueue.main.async { [weak self] in
// display AR lane representing navigation route
self?.visionARViewController.present(lane: lane)
extension ARNavigationViewController: VideoSourceObserver {
func videoSource(_ videoSource: VideoSource, didOutput videoSample: VideoSample) {
DispatchQueue.main.async { [weak self] in
// display received sample buffer by passing it to ar view controller
self?.visionARViewController.present(sampleBuffer: videoSample.buffer)
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