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I understood it ,so I will describe here for anyone who have a trouble. In order to execute a example_voxelgrid.cpp, I had to input three command on three terminals. As an additional information, I use a kinect.

roslaunch openni_launch openni.launch
rosrun my_pcl_tutorial example input:=/camera/depth/points
rosrun rviz rviz

The Input on the second sentence means a topic that is shown with rostopic list. On Rviz, you have to change some parameters.

Fixed Frame: map -> camera_link
PointCloud2/Topic: /output

This output on above means 37 line in example_voxelgrid.cpp. The results of executing the preceding statement are shown below.

This picture shows an environment in front of a kinect.