pcl statisticaloutlierremoval filter

using pcl::PointXYZ;
typedef pcl::PointCloud<PointXYZ> PointCloud;

PointCloud::Ptr statistical_outlier_removal ( PointCloud::Ptr input_cloud ) {
    PointCloud::Ptr cloud_filtered;

    pcl::StatisticalOutlierRemoval<PointXYZ> filter;
    filter.setInputCloud(input_cloud);
    filter.setMeanK(50);
    filter.setStddevMulThresh(1.0);
    filter.filter(*cloud_filtered);

    return cloud_filtered;
}