Merge branch 'path_tracking' into dev

components/vision/include/maix_image.hpp

@@ -1310,20 +1310,13 @@ namespace maix::image
         /**
          * Search the path of line
          *
-         * @param thresholds You can define multiple thresholds.
-         * For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.
-         * For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.
-         * Where the upper case L,A,B represent the L,A,B channels of the LAB image format, and min, max represent the minimum and maximum values of the corresponding channels.
-         * @param detect_pixel_size Before finding the path, the screen is divided into several smaller blocks, each with a width and height of detect_pixel_size. The smaller the detect_pixel_size, the finer the division. the unit is pixels.
-         * @param point_merge_size Minimum distance between merged point sets. the unit is pixels.
-         * @param connection_max_size Minimum size allowed for connecting points to form a line. the unit is pixels.
-         * @param connection_max_distance Minimum distance allowed for point to line. the unit is pixels.
-         * @param connection_max_angle Minimum angle allowed for connecting points to form a line.
-         *
+         * @param threshold Threshold for finding a line, the larger the value the more accurate the line is found
+         * @param merge_degree Minimum angle difference required when merging multiple lines
+         * @param min_len_of_new_path The minimum length of a new path, if the crossing length exceeds this value, it is considered a new path.
          * @return Return the line when found lines, format is (groupline1, groupline2, ...), you can use LineGroup class methods to do more operations
          * @maixpy maix.image.Image.search_line_path
          */
-        std::vector<image::LineGroup> search_line_path(std::vector<std::vector<int>> thresholds = std::vector<std::vector<int>>(), int detect_pixel_size = 30, int point_merge_size = 15, int connection_max_size = 51, int connection_max_distance = 20, int connection_max_angle = 20);
+        std::vector<image::LineGroup> search_line_path(int threshold = 30, int merge_degree = 10, int min_len_of_new_path = 10);
 
         /**
          * Find circles in image

components/vision/include/maix_image_obj.hpp

@@ -2838,22 +2838,19 @@ namespace maix::image
         int _id;
         LineType _type;
         std::vector<image::Line> _lines;
-        std::vector<std::vector<std::vector<int>>> _points;
     public:
         /**
          * LineGroup constructor
          *
          * @param id The id of line
          * @param type The line list type, @see image::LineType
          * @param lines The line list
-         * @param points Point sets of line
          * @maixpy maix.image.LineGroup.__init__
         */
-        LineGroup(int id, image::LineType type, std::vector<image::Line> lines, std::vector<std::vector<std::vector<int>>> points = std::vector<std::vector<std::vector<int>>>()) {
+        LineGroup(int id, image::LineType type, std::vector<image::Line> lines) {
             _id = id;
             _type = type;
             _lines = lines;
-            _points = points;
         }
 
         ~LineGroup(){}
@@ -2881,12 +2878,5 @@ namespace maix::image
          * @maixpy maix.image.LineGroup.lines
         */
         std::vector<image::Line> lines() {return _lines;}
-
-        /**
-         * Get the key points of line
-         * @return returns a list composed of (x,y) coordnates.
-         * @maixpy maix.image.LineGroup.points
-        */
-        std::vector<std::vector<std::vector<int>>> points() {return _points;}
     };
 }