this is the code used for generating the scan point cloud currently in use on our open bots

GenerateScanCloud.java

package com.niklashalle;

import edu.princeton.cs.introcs.Draw;

import java.awt.*;

public class GenerateScanCloud {
    private static class Point {
        double x;
        double y;

        Point(double x0, double y0) {
            x = x0;
            y = y0;
        }

        double distanceTo(Point oth) {
            return Math.sqrt((this.x - oth.x) * (this.x - oth.x) + (this.y - oth.y) * (this.y - oth.y));
        }
    }

    private static Draw drawTest;
    private static void drawPoint(double x, double y) {
        drawTest.point(x, y);
        System.out.println("_points->push_back(Pixel(" + x/972.0 + " * CAMERA_FRAME_WIDTH, " + y/972.0 + " * CAMERA_FRAME_WIDTH));");
    }

    public static void main(String[] args) {
        double frameSize = 972;
        double netDensity = Math.ceil(frameSize / 100.0);
        double frameMiddle = frameSize/2d;

        drawTest = new Draw();
        drawTest.setXscale(0, frameSize);
        drawTest.setYscale(0, frameSize);
        drawTest.filledRectangle(frameMiddle, frameMiddle, frameMiddle, frameMiddle);
        drawTest.setPenColor(Color.BLUE);
        drawTest.enableDoubleBuffering();

        // not quite sure how large it really needs to be, so better overestimate
        Point[] neighbors = new Point[(int) frameSize];

        for (int i = 0; i < frameSize; ++i) {
            neighbors[i] = new Point(0, 0);
        }

        // this account for most of the points very well
        for (int angle = 0; angle < 360; ++angle) {
            for (double radius = 10 * netDensity; radius <= frameSize/2d; radius += (1/3d) * (netDensity * frameSize / radius)) {
                Point current = new Point(Math.sin(Math.toRadians(angle)) * radius + frameMiddle,
                        Math.cos(Math.toRadians(angle)) * radius + frameMiddle);

                if (neighbors[(int) Math.round(radius)].distanceTo(current) >= netDensity * frameSize / (2*radius)) {
                    drawPoint(current.x, current.y);
                    neighbors[(int) Math.round(radius)] = current;
                }
            }
        }

        // adding some point very close to the bot manually
        for (double angle = 0; angle < 2 * Math.PI; angle += Math.PI / 4.5) {
            drawPoint(Math.sin(angle) * netDensity * 5 + frameMiddle,
                    Math.cos(angle) * netDensity * 5 + frameMiddle);
        }

        drawTest.show();
    }
}