Release Notes

We are pleased to announce the availability of version 1.11.2 of HERE Live Sense SDK for Android.

This is a stable release. We are constantly working on new features, stabilizing APIs, improving our KPIs, and evaluating your feedback.

Changes

This section documents major changes to this release that may require you to update your applications.

Version 1.11.2

New Features

  • Added an option to override the SDK vanishing point.

API Changes

  • Added - Added setModelOptions and getModelOptions methods to LiveSenseEngine
  • Added - Added LSDModelOptions

Known Issues and Workarounds

  • The distance and relative position calculation for detections is in Beta, the returned distance and relative position values may be inaccurate.
  • Using a lower confidence threshold will result in more detections, but an overall lower accuracy. This can sometimes cause the labels to show false positives. For this reason, applications should keep their confidence threshold at or above 0.6 to maintain reasonably accurate output.
  • Lower accuracy for detections is noted for quant variants of pothole and cone_barrier models.

Changes from Previous Releases

This section documents major changes from past releases. We encourage you to use the latest release, 1.11.2.

Version 1.11.1

Improvements

  • Improved the detection of stop signs by Road Signs model.

Version 1.11.0

New Features

  • New Road Signs model with additional sign types:
    • Advisory speed limits
    • No access
    • Pedestrian crossing
    • Parking restriction
    • Stop here on red
    • No left turn
    • No U turn
    • No U or left turn
    • No right or left turn
  • Added support for dynamic region of interest derived from lane markings
  • Added lane departure alerts

Improvements

  • Improved the distance and relative position calculation for detections (Beta).
  • Updated speed bumps quant model.

API Changes

  • Added - Added new sign types to LSDDetectionType
    • Advisory speed limits SIGN_SPEEDLIMIT_ADVISORY_*
    • SIGN_NO_ACCESS
    • SIGN_PEDESTRIAN_CROSSING
    • SIGN_NO_LEFT_TURN
    • SIGN_NO_U_TURN
    • SIGN_NO_U_OR_LEFT_TURN
    • SIGN_PARKING_RESTRICTION
    • SIGN_NO_RIGHT_OR_LEFT_TURN
    • SIGN_STOP_HERE_ON_RED
  • Added - Added isAdvisorySpeedLimit method to LSDDetectionType
  • Added - Added determineLaneAlerts and onLaneAlerts to LSDAlertManager
  • Added - Added LANE_DEPARTURE to LSDAlertType
  • Added - Added bool useLaneDeparture to LSDAlertSettings (default false)
  • Added - Added detectionTime to Recognition
  • Added - Added Roi, RoiType and RoiFactory
  • Added - Added setRoi method to LSDAlertManager
  • Added - Added contains and getRoiPoints methods to StaticRoiFilter
  • Updated - Deprecated GFR speed limit values of LSDDetectionType
    • These include any values starting with DS_SPEEDLIMIT_
    • Only SIGN_SPEEDLIMIT_MAX_* values of LSDDetectionType will be used for regulatory speed limit signs

Functional and Behavioral Changes

  • Updated entry alerts from LSDAlertManager with support for the following detection classes
    • "car", "rider", "bus", "truck", "bicycle", "motorcycle"

Version 1.10.0

New Features

  • Added new package and classes for accessing camera.
  • Added relative velocity estimation for Road Basics classes, except traffic light.

Improvements

  • Improved TTC alert.

API Changes

  • Added - Added CameraHelper.
  • Added - Added setter for collision buffer distance to LSDAlertManager.
  • Added - Added RelativeVelocityEstimator.
  • Added - Added relativeVelocity property to TrackedRecognition and LSDObjectRecognition.
  • Updated - Deprecated old camera classes and surface manager.

Functional and Behavioral Changes

  • Updated StaticDistanceEstimator to automatically adjust the sensor size to match the frame's aspect ratio
  • Added return of the most recent alerts if determineAlerts is called within the update interval
  • Updated target TensorFlow Lite version to 2.6.0.

Version 1.9.0

New Features

  • Added distance and relative position calculation (Beta) for detections from the Road Signs, Road Hazards, and Brake Light models.
  • Added get/setEnableTrafficLightStatus to RoadBasicsModel.Options.

Improvements

  • Improved the Road Basics model.
  • Improved the Road Lanes model.
  • Improved TTC alert.

API Changes

  • Added - Added distance and relative position calculation (Beta) for detections from the Road Signs, Road Hazards, and Brake Light models.
  • Added - Added get/setEnableTrafficLightStatus to RoadBasicsModel.Options.
  • Updated - Updated LaneBoundaryTracker (Beta) and LSLaneTrackerManagerImpl.
  • Removed - Removed setNumThreads() and setUseNNAPI() methods from LSDModel interface and implementing classes.
  • Removed - Removed TrafficLightCVModel.
  • Removed - Removed LiveSenseModel.TRAFFIC_LIGHT.

Known Issues and Workarounds

  • The distance and relative position calculation for detections is in Beta, the returned distance and relative position values may be inaccurate.
  • Using a lower confidence threshold will result in more detections, but an overall lower accuracy. This can sometimes cause the labels to show false positives. For this reason, applications should keep their confidence threshold at or above 0.6 to maintain reasonably accurate output.

Version 1.8.0

New Features

  • Added distance and relative position calculation (Beta) for detections from the Road Basics model.
  • Added a property to ModelOptionsBase for disabling the GPU support check when loading a model.
    • Enabling this option allows the model to load using the GPU runtime when the current device's GPU is not listed as supported by the selected NNEngine.
    • Developers should use this option sparingly as running models on an unsupported GPU may result in poor performance or other issues.

Improvements

  • Improved the Road Signs model.

API Changes

  • Added - Added relativePosition to Recognition and TrackedRecognition.
  • Added - Added a property to ModelOptionsBase for disabling the GPU support check when loading a model.
  • Removed - Removed NNEngine.SNPE engine, ModelConfig.SNPE_DSP_FLOAT, ModelConfig.SNPE_GPU_FLOAT options.
  • Removed - Removed saveBitmap() method from ImageUtils.

Functional and Behavioral Changes

  • Set the default auto-focus mode to continuous picture, when the continuous picture is available, as documented.
  • Set the camera's focal distance to the camera's hyperfocal distance, when the auto-focus mode is set to off and the hyperfocal distance is available.

Version 1.7.0

New Features

  • Added sessionId field to LSOObservation.
  • Added geoCoordinate field to LSOObservation.
  • Added Pedestrian TTC detection alert.
  • Added HeuristicDetectionManager class to handle filtered detection.

Improvements

  • Improved TTC alerts.

API Changes

  • Added - Added sessionId field to LSOObservation.
  • Added - Added geoCoordinate field to LSOObservation.
  • Added - Added Pedestrian TTC detection alert.
  • Added - Added HeuristicDetectionManager class to handle filtered detection.
  • Updated - Removed Road Signs regional models other than global.
  • Updated - Removed coordinate field to LSOObservation.
  • Updated - Deprecated SNPE option of NNEngine.

Functional and Behavioral Changes

  • SNPE support has been removed for all Live Sense models.
    • If the deprecated SNPE option is selected, the SDK will now always fallback to TFLITE.

Version 1.6.0

New Features

  • Added LSOConnectedAlerts for fetching data from connected alerts back-end service.

Improvements

  • Improved Accuracy of Road Signs model.
  • Improved Lane Detection model.

API Changes

  • Added - LSOModelType enum in observation library.
  • Added - LSOConnectedAlerts for fetching data from connected alerts back-end service.
  • Added - LaneDetection, LanePoint classes.
  • Added - Added getLaneDetection() and setLaneDetection() to Recognition.
  • Updated - Renamed LiveSenseModel.LANE_SEGMENTATION to LiveSenseModel.LANE_DETECTION.
  • Updated - Updated RoadSignsModel model.
  • Updated - Updated RoadSignsModel labels update to GFR format.
  • Updated - Updated Speed bump, brake light labels.
  • Updated - Updated LSDDetectionType with
    • Added DS_SPEEDLIMIT[10-130]_[WHITE_CIRCLE_00/WHITE_RECTANGLE_01] enums
    • SIGN_STOP -> STOP_SIGN
    • SPEEDBUMP_SIGN -> SPEED_BUMP_SIGN
    • SPEEDBUMP -> SPEED_BUMP.
  • Updated - Changed RoadLaneModel to return detected lane markings in LaneDetection field of Recognition.
  • Updated - Deprecated and disabled LaneBoundaryTracker.
  • Updated - The mask field of Recognition is no longer populated by RoadLaneModel.
  • Updated - Removed LaneProcessingLevel enum from RoadLaneModel.
  • Updated - Removed size and title constants from RoadLaneModel.
  • Updated - Removed speed sign labels in RoadSignsModel for the US region - 5, 10, 100, 120, 130.

Version 1.5.0

New Features

  • Added support for Android's Direct Boot mode.
    • Support is enabled based upon the first Context passed to LiveSenseEngine#initialize(). See API reference for details.
  • Added RTG model (Beta) for Real Time Guidance, detects class stop-sign, traffic-light.
  • Added Road Lanes model (Beta) that detects lanes on the highways.
  • Added LaneBoundaryTracker Tracker to follow the road lane boundaries across frames between model inference.

Improvements

  • Improved Accuracy of Road Signs model.
  • Improved Brake Light model

API Changes

  • Added - Additional camera properties LSDCameraProperties.
  • Added - Additional methods to set auto-focus int autofocusMode mode in LSDCameraStream class.
  • Updated - Replaced RoadAlertsCVModel with BrakeLightModel.
  • Updated - Changed the label name speed-bump to cross-walk in Speed Bump Object model.
  • Updated - Removed Context parameter from models and model manager initialization.
  • Updated - Removed Context parameter from getAvailableModelConfigurations().

Version 1.4.1

Resolved Issues

  • Fixed build.gradle of the livesense module having missing or outdated SDK dependencies

Version 1.4.0

New Features

  • Added a Road Basic (default) model which introduces a new class rider over the existing classes. rider is defined as a person driving a cycle, bicycle, scooter, or a motorbike.
  • Added a Road Basic night model to detect features in low light conditions. Supported features - car,motorcycle,person,bus,truck.
  • Update to the end-user consent message.
  • Added support for external camera
  • Introduced an engine/processor prioritization flow for the available options supported in the device. Live Sense SDK will decide the best possible configuration during model initialization.
  • Introduced XNNPACK library to accelerate the model inferencing on CPU.
  • Introduced GPU delegate to use the available GPU accelerators in devices.

API Changes

  • Added onLocationChange(Location location) - returns the current geocoordinates when any change in location is detected
  • Added onSpeedChange(float currentSpeed) - returns the current speed when any change in speed is detected
  • Added setSideCropPercent(int leftCropPercent, int topCropPercent, int rightCropPercent, int bottomCropPercent) to crop input frame in percentage from all/any of the 4 sides
  • Added setUseIncrementalCenterCrop(boolean useIncrementalCenterCrop) to enable/disable incremental zoom focused at the center

Version 1.3.0

New Features

  • Added an improved Road Signs global model with stop signs included. This contains maximum speed limit signs for all supported regions which include NA, Brazil, SEA, U,K and Oceania.

Improvements

  • Improved use of resources in 2 stage detection pipeline.

API Changes

  • Added LSModelManager.setRecognitionProcessor(RecognitionProcessor recognitionProcessor) - Sets an interface to process recognitions before they are passed to model recognition callback and tracker.
  • Added liveSenseEngine.setLocationQuality() - Used to set the configuration mode of the location updates. The following are the available enums:
    • HIGH_ACCURACY_GPS
    • LOW_POWER_NETWORK
  • Added LSModelManagerParallel - a manager class for:
    • Providing interface for multi-model inferencing (parallel async, parallel sync, serial)
    • Isolating model instances within manager to enhance multi-threading utilization.
  • Added LSTrackerManagerImpl - a standard LSTrackerManager implementation utilizing MultiBoxObjectTracker and BasicObjectTracker

Version 1.2.0

New Features

  • Added GPU support for RoadAlertsCVModel (Brake Light) model
  • New detection capabilities available for beta testing:
    • Traffic Light Status - this detects the state of the traffic light: red, orange or green.
    • Height Restriction Signs - this detects road signs that have height specified in feet and inches.
    • Tunnels and Overpasses - this detects tunnels and overpasses that can set a height restriction for permitted vehicles. Can be used to calculate the permitted height limit.

API Changes

  • Added void addClassMinConfidence(String classLabel, float classMinConfidence) - Configure minimum detection confidences separately for each individual class in AI/ML models that supersedes confidence configured for parent model.

  • Added argb8888ToBitmap() - Utility to convert RGB or YUV byte[] received from camera source to bitmap which is required as an input for the detection library.

  • Added List<Recognition> classifyRecognitions(List<Recognition> recognitions, Bitmap bitmap, int sensorOrientation, float minimumConfidence) method to RoadAlertsCVModel, TrafficLightCVModel which takes input from Road Basics model and classifies the status of brake light and traffic light respectively.

  • Updated - Changed the name of the keys used to authenticate Live Sense SDK The keys that will have to be provided/updated in AndroidManifest.xml are the following:

          <meta-data android:name="com.here.see.livesense.appid"
          android:value="{YOUR_APP_ID}"/>
          <meta-data android:name="com.here.see.livesense.apptoken"
          android:value="{YOUR_APP_CODE}"/>
          <meta-data android:name="com.here.see.livesense.license.key"
          android:value="{YOUR_LICENSE_KEY}"/>
    
  • Updated - Live Sense model classes now implement new interfaces Recognizer (RoadBasicsModel, RoadSignsModel, RoadHazardsModel) and Classifier (RoadAlertsCVModel, TrafficLightCVModel)

  • Removed List<Recognition> recognizeImage(Bitmap bitmap, int sensorOrientation, float minimumConfidence) method from RoadAlertsCVModel, TrafficLightCVModel and has been replaced by classifyRecognitions() method

  • Removed bundled OpenCV library

Version 1.1.0

New Features

  • Observation Library - Features detected by Live Sense SDK can now be saved to HERE Data Hub. These features can then be retrieved from Data Hub via the SDK.
  • New detection capabilities:
    • Speed bumps - White strips

API Changes

  • The following methods were added to initialize, save and retrieve features from HERE Data Hub:
    • LSODataHubClient(String spaceID, String token){}
    • validateCredentials(@NotNull LSOEventSyncListener eventSyncListener) {}
    • putObservations(@NotNull LSOData obsData, @NotNull LSOEventSyncListener eventSyncListener){}
    • getObservations(double latitude, double longitude, double radiusInMeters, @NotNull LSOEventSyncListener eventSyncListener){}

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