原理:
利用叉乘原理:二维向量叉乘公式a(x1,y1),b(x2,y2),则a×b=(x1y2-x2y1)
判断方法:为每一条边建立一个向量,使用相邻边的叉积来测试凹凸性。凸多边形的所有相邻边向量叉积同号。如果出现一些正一些负则为凹多边形。
代码:
bool IOU::IsConvexHull(const PointCloud& polygon) {
uint16_t positive_count = 0;
uint16_t negative_count = 0;
if (polygon.size()❤️)
return false;
for (uint16_t i = 0; i<polygon.size(); ++i) {
PointD A = polygon[i];
PointD B = polygon[(i+1)%polygon.size()];
PointD C = polygon[(i+2)%polygon.size()];
//向量
PointD vectorAB;
vectorAB.x = B.x - A.x;
vectorAB.y = B.y - A.y;
vectorAB.z = B.z - A.z;
PointD vectorBC;
vectorBC.x = C.x - B.x;
vectorBC.y = C.y - B.y;
vectorBC.z = B.z - A.z;
//向量积
double cross_product = vectorAB.xvectorBC.y - vectorAB.yvectorBC.x;
if (cross_product > 0) {
positive_count++;
} else {
negative_count++;
}
if (positive_count > 0 && negative_count > 0) {
return false;
}
}
return true;
}