OpenCV中contourArea轮廓面积算法

OpenCVcontourArea部分源码 ：

for( int i = 0; i < npoints; i++ )  
    {  
        Point2f p = is_float ? ptsf[i] : Point2f((float)ptsi[i].x, (float)ptsi[i].y);//将轮廓点转换为浮点型  
        a00 += (double)prev.x * p.y - (double)prev.y * p.x;//向量叉乘  
        prev = p;  
    }  
    a00 *= 0.5;  
    if( !oriented )  
        a00 = fabs(a00); 

其中(double)prev.x * p.y - (