diff --git a/headers/voxelfilter.hpp b/headers/voxelfilter.hpp
index ffd9d968382ed527c8470b636a15105010711b78..c23030a54ee825810829ab95b74006878e4c7ca0 100644
--- a/headers/voxelfilter.hpp
+++ b/headers/voxelfilter.hpp
@@ -5,7 +5,7 @@
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/io/ply_io.h>
 
-inline void voxelGridFilter(std::string plyFilePath) {
+inline void voxelGridFilter(std::string plyFilePath, float leafSize) {
   // load ply file
   pcl::PCLPointCloud2::Ptr cloud(new pcl::PCLPointCloud2());
   pcl::io::loadPLYFile("../pointClouds/" + plyFilePath, *cloud);
@@ -17,7 +17,7 @@ inline void voxelGridFilter(std::string plyFilePath) {
   pcl::PCLPointCloud2::Ptr outputCloud(new pcl::PCLPointCloud2());
   pcl::VoxelGrid<pcl::PCLPointCloud2> voxelGrid;
   voxelGrid.setInputCloud(cloud);
-  voxelGrid.setLeafSize(0.06f, 0.06f, 0.06f);
+  voxelGrid.setLeafSize(leafSize, leafSize, leafSize);
   voxelGrid.filter(*outputCloud);
 
   std::cout << "Finished filtering point cloud with "
diff --git a/main.cpp b/main.cpp
index ea3154b3914665e32fccae1646691afa25061d17..b0c025265da93951314b71de6595d475b2252426 100644
--- a/main.cpp
+++ b/main.cpp
@@ -3,9 +3,9 @@
 
 int main() {
   // 1st reduce file size
-  // voxelGridFilter("trafo.ply");
+  voxelGridFilter("raktar.ply", 0.08f);
 
   // 2nd write obj file with tetrahedrons
-  createTetrahedronModel("downsampled_trafo.ply");
+  createTetrahedronModel("downsampled_raktar.ply");
   return 0;
 }
diff --git a/pointClouds/downsampled_raktar.ply b/pointClouds/downsampled_raktar.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a0394b67428e947af1a65f92f405c15151b98494
--- /dev/null
+++ b/pointClouds/downsampled_raktar.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ef97dc9ac10cdd0cb6d3177e836e007fc98d1f39b41eb98bac4ea04ec619470
+size 96900646