Recommend use CGAL library to finish this coverage planning due the bugs of this repository.
BUG when confronted with complicated polygons
Here is the good one
Then we have got a bad one
the bug lies in PolygonDecomposition::DecomposeIt() where the processing of erasing polygons and adding polygons
Decompose the given polygon if concave
Compute a bow-shape complete coverage path for every polygon
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Eigen
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OpenCV
The decomposition algorithm is proposed by ZHU chuanmin, TANG jun and XU tiangui
from College of Mechanical Engineering, Tongji University, Shanghai, China
The paper link : https://wenku.baidu.com/view/a3ccf9abf705cc1755270974.html
The reason I take this algorithm cause I came from Tongji
# build
mkdir build
cd build
cmake ..
make
# run
./planner