From 614972920ffa1b62b7341aedeff3902419ac2afa Mon Sep 17 00:00:00 2001
From: Alexandru Eugen Ichim <alex.e.ichim@gmail.com>
Date: Mon, 17 Dec 2012 21:22:09 +0000
Subject: [PATCH] bug fix for the corrected output of 2D Convex Hulls

git-svn-id: svn+ssh://svn.pointclouds.org/pcl/trunk@8279 a9d63959-f2ad-4865-b262-bf0e56cfafb6
---
 .../impl/extract_polygonal_prism_data.hpp     | 24 +++++++++++++++++++
 1 file changed, 24 insertions(+)

diff --git a/segmentation/include/pcl/segmentation/impl/extract_polygonal_prism_data.hpp b/segmentation/include/pcl/segmentation/impl/extract_polygonal_prism_data.hpp
index dc63d5eb743..3ab8fc70d2a 100644
--- a/segmentation/include/pcl/segmentation/impl/extract_polygonal_prism_data.hpp
+++ b/segmentation/include/pcl/segmentation/impl/extract_polygonal_prism_data.hpp
@@ -138,6 +138,30 @@ pcl::isXYPointIn2DXYPolygon (const PointT &point, const pcl::PointCloud<PointT>
     xold = xnew;
     yold = ynew;
   }
+
+  // And a last check for the polygon line formed by the last and the first points
+  double xnew = polygon.points[0].x;
+  double ynew = polygon.points[0].y;
+  if (xnew > xold)
+  {
+    x1 = xold;
+    x2 = xnew;
+    y1 = yold;
+    y2 = ynew;
+  }
+  else
+  {
+    x1 = xnew;
+    x2 = xold;
+    y1 = ynew;
+    y2 = yold;
+  }
+
+  if ( (xnew < point.x) == (point.x <= xold) && (point.y - y1) * (x2 - x1) < (y2 - y1) * (point.x - x1) )
+  {
+    in_poly = !in_poly;
+  }
+
   return (in_poly);
 }