void generateRandomPointCloud(Eigen::MatrixBase<Der> &mat, const size_t N,const size_t dim, const typename Der::Scalar max_range = 10) { std::cout << "Generating "<< N << " random points..."; mat.resize(N,dim); for (size_t i=0;i<N;i++) for (size_t d=0;d<dim;d++) mat(i,d)= max_range * (rand() % 1000) / typename Der::Scalar(1000); std::cout << "done\n"; }