checkInsidePolygonGiven3DPoints.m

%{
 * Copyright (C) 2013-2025, The Regents of The University of Michigan.
 * All rights reserved.
 * This software was developed in the Biped Lab (https://www.biped.solutions/) 
 * under the direction of Jessy Grizzle, grizzle@umich.edu. This software may 
 * be available under alternative licensing terms; contact the address above.
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 1. Redistributions of source code must retain the above copyright notice, this
 *    list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
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 * AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
 * WEBSITE: https://www.brucerobot.com/
%}

function [point, status]= checkInsidePolygonGiven3DPoints(object, LiDAR_centroid, point_3D)
    point = [];
    status = 0; % not in by default
    [point_on_plane, ~, intersect] = findIntersectionOfPlaneAndLine(object, ...
                                                                    LiDAR_centroid, point_3D);
    if intersect == 1
        [~, in] = checkInsidePolygon(object.object_vertices, point_on_plane);
        if in
            status = 1;
%                         point_on_plane = limitInBoundaryWithMaxMin(point_on_plane, boundary); % check boundary
            point.distance = norm(point_on_plane);

            % Assign intensity and ring number
%             point_on_plane = [point_on_plane; 255; ring_num];
            point.point = point_on_plane;
        end
%         in_polygon = inhull(I, objects(object));
    end
end