官方网站怎样做,餐饮业手机php网站,有用node.js做的网站吗,火车头wordpress教程简介 本文的代码部分都比较简单容易 Boost Geometry 是 Boost C 库集合的一部分#xff0c;定义了用于解决几何问题的概念、工具和算法。这个库比较常用#xff0c;很多现成的函数都很实用且简单#xff0c;本文记录一些常用的函数和操作#xff0c;重复的功能以后还会用到…简介 本文的代码部分都比较简单容易 Boost Geometry 是 Boost C 库集合的一部分定义了用于解决几何问题的概念、工具和算法。这个库比较常用很多现成的函数都很实用且简单本文记录一些常用的函数和操作重复的功能以后还会用到到时回来查看比阅读文档方便。
Polygon操作经常用于机器人行业的感知系统中特别是用于定义安全区域和障碍物边界框等任务。一些常见的应用包括
计算障碍物边界框与安全区域之间的重叠比例以确定危险级别。验证障碍物是否进入自动驾驶车辆的危险区域。确定一些激光雷达点是否位于指定区域内。
应用实现
需求
生成随机多边形创建两个随机多边形。有效性检查和面积计算验证多边形的有效性并计算它们的面积。相交检测确定两个多边形是否相交并在相交时计算交叉多边形。点包含检查检查指定点是否位于交叉多边形内。
代码
#include iostream
#include string
#include deque
#include vector // To contain points
#include random // Random generate points
#include stdexcept// for std::runtime_error
#include boost/geometry.hpp
#include boost/geometry/geometries/geometries.hpp // Points, lines, polygons, etc.
#include boost/geometry/geometries/point_xy.hpp // 2 D point point_xy
#include boost/geometry/geometries/polygon.hpp // Polygon geometry, sequence of points for a closed loopnamespace bg boost::geometry;
// Create type aliases
using Point bg::model::d2::point_xydouble;
using Points std::vectorPoint;
using Polygon bg::model::polygonPoint;Polygon getOverlappingPolygon(const Polygon polygon_1, const Polygon polygon_2)
{std::dequePolygon overlapping_polygon; // The overlapping polygon number can more than onebg::intersection(polygon_1, polygon_2, overlapping_polygon);return overlapping_polygon.front();
}bool checkPolygonIntersection(const Polygon polygon_1, const Polygon polygon_2)
{ return bg::covered_by(polygon_1, polygon_2) || bg::overlaps(polygon_1, polygon_2);
}void printPoints(const Points points)
{std::cout Generated Points: std::endl;for (const auto point : points) {std::cout ( bg::get0(point) , bg::get1(point) ) std::endl;}
}Points generateRandomPoints(int num_points, double min_x, double max_x, double min_y, double max_y)
{std::random_device rd;std::mt19937 gen(rd());std::uniform_real_distributiondouble dist_x(min_x, max_x);std::uniform_real_distributiondouble dist_y(min_y, max_y);Points points;for (int i 0; i num_points; i){points.push_back(Point(dist_x(gen), dist_y(gen)));}points.push_back(points.front()); // To close the loop, otherwise polygon is invalidreturn points;
}Polygon generatePolygon(const Points points)
{Polygon polygon;bg::assign_points(polygon, points);return polygon;
}void printPolygon(const Polygon polygon, const std::string prefix )
{std::cout Polygon prefix points are: ;for (const auto point : polygon.outer()) {std::cout ( boost::geometry::get0(point) , boost::geometry::get1(point) ) ;}std::cout \t Area is: bg::area(polygon) std::endl;
}Polygon generateRandomPolygon(int num_points 4, double min_x 0, double max_x 4, double min_y 0, double max_y 4)
{int max_attempts 10;while(max_attempts 0){Points points generateRandomPoints(num_points, min_x, max_x, min_y, max_y);Polygon polygon generatePolygon(points);if (bg::is_valid(polygon)) // Check if the polygon is valid{return polygon;}std::cout Polygon is invalid, retrying... std::endl;max_attempts--;}throw std::runtime_error(Failed to generate a valid polygon after maximum attempts.);
}int main()
{Polygon polygon_1 generateRandomPolygon();printPolygon(polygon_1, 1);Polygon polygon_2 generateRandomPolygon();printPolygon(polygon_2, 2);// Check intersectionif (checkPolygonIntersection(polygon_1, polygon_2)){// Print the intersection polygon points and areaPolygon intersect_polygon getOverlappingPolygon(polygon_1, polygon_2);printPolygon(intersect_polygon, intersect);// Check if the origin point inside the polygonPoint origin {0, 0};if (bg::within(origin, polygon_1)){std::cout origin is inside the polygon std::endl;}else{std::cout origin is outside the polygon std::endl;}}else{std::cout Two polygons are not intersected std::endl;}
}
一个样例输出
Polygon is invalid, retrying...
Polygon is invalid, retrying...
Polygon 1 points are: (1.05432, 2.2592) (1.5928, 3.05599) (2.93741, 2.09024) (1.47085, 0.798034) (1.05432, 2.2592) Area is: 2.13627
Polygon is invalid, retrying...
Polygon is invalid, retrying...
Polygon is invalid, retrying...
Polygon 2 points are: (1.97136, 2.36949) (2.81913, 0.603898) (1.81515, 1.29083) (0.327355, 3.53608) (1.97136, 2.36949) Area is: 1.5729
Polygon intersect points are: (1.11448, 2.34822) (1.40193, 2.77356) (1.97136, 2.36949) (2.35279, 1.57512) (1.93617, 1.20803) (1.81515, 1.29083) (1.11448, 2.34822) Area is: 0.946869
origin is outside the polygon
