void decimate_cloud(pcl::PointCloud<pcl::PointXYZ::Ptr in_cloud, pcl::PointCloud & out_cloud>, uint32 factor)
{
    for(uint32 i=0; i < in_cloud->size(); ++i)
    {
        if(i % factor == 0)
        {
            out_cloud.push_back(pcl::PointXYZ((*in_cloud)[i].x,(*in_cloud)[i].y,(*in_cloud)[i].z));
        }
    }
}