pcl voxelgrid filter

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>

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

static PointCloud::Ptr voxel_grid ( const PointCloud::Ptr input_cloud ) {
    PointCloud::Ptr cloud_filtered(new PointCloud);

    pcl::VoxelGrid<PointCloud> filter;
    filter.setInputCloud(input_cloud);
    filter.setLeafSize(0.01f, 0.01f, 0.01f);
    filter.filter(*cloud_filtered);

    return cloud_filtered;
}

void filter ( const PointCloud::Ptr input_cloud ) {
    const PointCloud::Ptr cloud_filtered(voxel_grid(input_cloud));

    std::cout << "input_points:" << input_cloud->width * input_cloud->height
              << ", output_points:" << cloud_filtered->width * cloud_filtered->height << std::endl;
}