add color line detection, and MIPI interface.

include/sv_color_line.h

@@ -0,0 +1,43 @@
+#ifndef __SV_COLOR_LINE__
+#define __SV_COLOR_LINE__
+
+#include "sv_core.h"
+#include <opencv2/opencv.hpp>
+#include <string>
+#include <chrono>
+
+namespace sv
+{
+
+
+class ColorLineDetector : public CameraAlgorithm
+{
+public:
+  ColorLineDetector();
+  ~ColorLineDetector();
+
+  void detect(cv::Mat img_, TargetsInFrame &tgts_);
+
+  cv::Point3d pose;
+
+  double line_location;
+  double line_location_a1;
+  double line_location_a2;
+
+  bool is_load_parameter;
+
+  std::string line_color;
+
+protected:
+  float _cy_a1;
+  float _cy_a2;
+  float _half_h;
+  float _half_w;
+
+  void _load();
+  float cnt_area(std::vector<cv::Point> cnt_);
+  void get_line_area(cv::Mat &frame_, cv::Mat &line_area_, cv::Mat &line_area_a1_, cv::Mat &line_area_a2_);
+  void seg(cv::Mat line_area_, cv::Mat line_area_a1_, cv::Mat line_area_a2_, std::string line_color_, cv::Point &center_, int &area_, cv::Point &center_a1_, cv::Point &center_a2_);
+};
+}
+#endif

include/sv_video_base.h

@@ -323,7 +323,7 @@ protected:
 };
 
 
-enum class CameraType {NONE, WEBCAM, G1, Q10};
+enum class CameraType {NONE, WEBCAM, G1, Q10, MIPI};
 
 class CameraBase {
 public:

include/sv_world.h

@@ -5,6 +5,7 @@
 #include "sv_common_det.h"
 #include "sv_landing_det.h"
 #include "sv_tracking.h"
+#include "sv_color_line.h"
 #include "sv_video_input.h"
 #include "sv_video_output.h"