std::vector<cv::Point2d> vanCorner_;

bool inArea(const Pose &pos)
{
    cv::Point2d point = cv::Point2d(pos.position.x(), pos.position.y());
    double distance = cv::pointPolygonTest(vanCorner_, point, false);
    return distance >= 0;
}

似乎效果不太好,会误报

github

https://github.com/xuzebin/point-in-polygon

https://github.com/sasamil/PointInPolygon