text: #include <pcl/io/pcd_io.h>
  #include <pcl/point_types.h>
  
  // Define relevant point cloud types to simplify declarations and improve code readability
  typedef pcl::PointXYZ PointT;
  typedef pcl::PointCloud<PointT> PointCloudT;  
  
  // Auxiliary function used to scale the cloud
  void scaleTheCloud(double scaling_factor, PointCloudT::Ptr cloud_in) {
  
      for(int i = 0; i < cloud_in->points.size(); i++) {
  
      cloud_in->points[i].x = cloud_in->points[i].x / scaling_factor;
      cloud_in->points[i].y = cloud_in->points[i].y / scaling_factor;
      cloud_in->points[i].z = cloud_in->points[i].z / scaling_factor;
    }
  
  } 
    