Implemented a class to generate point clouds of 3D geometric primitives

CMakeLists.txt

@@ -340,8 +340,10 @@ set(POINTMATCHER_SRC
 	pointmatcher/DataPointsFilters/DistanceLimit.cpp
 	pointmatcher/DataPointsFilters/RemoveSensorBias.cpp
 	pointmatcher/DataPointsFilters/Sphericality.cpp
-	pointmatcher/DataPointsFilters/Saliency.cpp
+	pointmatcher/DataPointsFilters/Saliency.cpp	
 	pointmatcher/DataPointsFilters/SpectralDecomposition.cpp
+#PointCloudGenerators
+	pointmatcher/PointCloudGenerator.cpp
 )
 
 

examples/python/point_cloud_generator.py

@@ -0,0 +1,50 @@
+# Code example for ICP generating different shapes using the built-in interface
+import os.path
+
+import numpy as np
+from pypointmatcher import pointmatcher as pm
+
+PM = pm.PointMatcher
+DP = PM.DataPoints
+Generator = pm.PointCloudGenerator
+
+# Path of output directory (default: tests/icp_simple/)
+# The output directory must already exist
+# Leave empty to save in the current directory
+output_base_directory = "tests/generator/"
+
+# How many points will each generated shape contain
+number_of_points = 10000
+
+# Toggle to switch between 2D and 3D clouds
+# Only 3D is currently supported
+is_3D = True
+
+if is_3D:
+    # Load 3D point clouds
+    ref = DP(DP.load('../data/car_cloud400.csv'))
+    data = DP(DP.load('../data/car_cloud401.csv'))
+    test_base = "3D"
+    translation = np.array([[0], [0], [0]])
+    rotation = np.array([1, 0, 0, 0], dtype=np.float32)
+else:
+    raise Exception("The Point Cloud Generator only supports 3D shapes")
+
+box = Generator.generateUniformlySampledBox(1.0, 2.0, 3.0, number_of_points, translation, rotation)
+circle = Generator.generateUniformlySampledCircle(1.0, number_of_points, translation, rotation)
+cylinder = Generator.generateUniformlySampledCylinder(1.0, 2.0, number_of_points, translation, rotation)
+plane = Generator.generateUniformlySampledPlane(np.array([1.0, 2.0, 3.0]), number_of_points, translation, rotation)
+sphere = Generator.generateUniformlySampledSphere(1.0, number_of_points, translation, rotation)
+
+
+# Save files to see the results
+if not os.path.exists(output_base_directory):
+    os.makedirs(output_base_directory)
+
+box.save(f"{output_base_directory}box.vtk")
+circle.save(f"{output_base_directory}circle.vtk")
+cylinder.save(f"{output_base_directory}cylinder.vtk")
+plane.save(f"{output_base_directory}plane.vtk")
+sphere.save(f"{output_base_directory}sphere.vtk")
+
+print(f"Saved generated shapes into {output_base_directory}")