From 377c46281854958bea5e6047d33da41774d22402 Mon Sep 17 00:00:00 2001
From: lvzhaoyang <lvzhaoyang1990@gmail.com>
Date: Sun, 11 Jan 2015 23:21:59 -0500
Subject: [PATCH] cylinderSampling moved to gtsam+ folder

---
 matlab/+gtsam/cylinderSampling.m | 26 ++++++++++++++++++++++++++
 1 file changed, 26 insertions(+)
 create mode 100644 matlab/+gtsam/cylinderSampling.m

diff --git a/matlab/+gtsam/cylinderSampling.m b/matlab/+gtsam/cylinderSampling.m
new file mode 100644
index 000000000..dcaa9c721
--- /dev/null
+++ b/matlab/+gtsam/cylinderSampling.m
@@ -0,0 +1,26 @@
+function [cylinder] = cylinderSampling(baseCentroid, radius, height, density)
+% 
+% @author: Zhaoyang Lv
+    import gtsam.*
+    % calculate the cylinder area
+    area = 2 * pi * radius * height;
+    
+    pointsNum = round(area * density);
+    
+    points3 = cell(pointsNum, 1);
+    
+    % sample the points
+    for i = 1:pointsNum
+        theta = 2 * pi * rand;
+        x = radius * cos(theta) + baseCentroid.x;
+        y = radius * sin(theta) + baseCentroid.y;
+        z = height * rand;
+        points3{i,1} = Point3([x,y,z]');
+    end
+   
+    cylinder.area = area;
+    cylinder.radius = radius;
+    cylinder.height = height;
+    cylinder.Points = points3;
+    cylinder.centroid = Point3(baseCentroid.x, baseCentroid.y, height/2);
+end
\ No newline at end of file