Tripod – 3D vision engine

Tripod is a 3D computer vision framework for macOS and iOS written in Swift.

Created by Stijn Oomes.

Copyright © 2010-2018 Oomes Vision Systems. All rights reserved.

Seeing the world

With Tripod you can make your app detect 3D objects from the information from the camera and the motion sensors. The framework quickly and easily represents objects by their basic properties: 3D size, 3D position, and 3D attitude.


This 3D vision engine is different from the classic computer vision libraries that turn the world into point-clouds. Tripod directly divides our world into the building blocks we naturally call objects.

The core technology in the Tripod engine is based on a novel mathematical theory of vision that has been under development for more than 20 years.

Getting started

The Tripod framework is written in Swift and presently runs under macOS and iOS. The version numbers are:

  • Xcode 9
  • macOS 10.13 / iOS 11
  • Swift 4
  • Tripod 0.5

If you have the Tripod.framework file on your development machine, follow these steps:

  1. Open the Xcode project or workspace of your app.
  2. Go to the “Targets” of your app and select the “Build Phases”.
  3. Open the “Embedded Binaries” triangle and click on the ‘+’ (“Add items”) button.
  4. Select Tripod.framework from the list of frameworks.

Open a ViewController.swift file for editing. The code example below is for an iOS app, but the macOS case only differs in the specific type of the view controller. Add the framework by importing it at the top of the file. In the ViewController class, define a property by instantiating a VisionSession() object.

import Tripod

class ViewController: UIViewController {

let visionSession = VisionSession()

override func viewDidLoad() {

If you build and run, you will get the reassuring message in the console:

[Tripod] You have permission to run the Tripod framework.

You are now ready to dive into the world of real and virtual cameras, images, 2D figures, and 3D solids.

Reading more

You will find all additional information here on this website.

  • Guides are concise high-level descriptions of important concepts. They will help you understand the inner workings of the Tripod engine.
  • Tutorials give step-by-step instructions on how to build important and frequently used functionalities of Tripod into your iOS or macOS app.
  • Reference contains detailed descriptions of all Data Types, Functions, and Classes that Tripod makes available to you.

If there is anything else you would like to know, or you want to report bugs, you can always contact me here.