Generating a Random Point Cloud for Testing in C++

This code generates a point cloud consisting of 5 points with random x, y, and z coordinates between -0.5 and 0.5. The generated point cloud is then printed to the console. This is useful for testing point cloud filtering algorithms, as it provides a known input and output.

cloud->width  = 5;
cloud->height = 1;
cloud->points.resize (cloud->width * cloud->height);
for (size_t i = 0; i < cloud->points.size (); ++i)
{
  cloud->points[i].x = rand () / (RAND_MAX + 1.0f)-0.5;
  cloud->points[i].y = rand () / (RAND_MAX + 1.0f)-0.5;
  cloud->points[i].z = rand () / (RAND_MAX + 1.0f)-0.5;
}
std::cerr << "Cloud before filtering: " << std::endl;
for (size_t i = 0; i < cloud->points.size (); ++i)
  std::cerr << "    " << cloud->points[i].x << " " 
                        << cloud->points[i].y << " " 
                        << cloud->points[i].z << std::endl;