不知道行不行

#include <iostream>
#include <pcl/point_types.h>
#include <pcl/filters/radius_outlier_removal.h>
#include <pcl/filters/conditional_removal.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>

int
 main (int argc, char** argv)
{
  if (argc != 2)
  {
    std::cerr << "please specify command line arg '-r' or '-c'" << std::endl;
    exit(0);
  }
  
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>);
  // 填入点云数据
  cloud->width  = 1000;
  cloud->height = 1;
  cloud->points.resize (cloud->width * cloud->height);
  for (size_t i = 0; i < cloud->points.size (); ++i)
  {
    cloud->points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
    cloud->points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
    cloud->points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
  }
 

  if (strcmp(argv[1], "-r") == 0)
  {

      pcl::RadiusOutlierRemoval<pcl::PointXYZ> outrem;
      // 创建滤波器
      outrem.setInputCloud(cloud);
      outrem.setRadiusSearch(50); //在半径为100的范围内搜索领近点
      outrem.setMinNeighborsInRadius(30);//设置查询点的邻近点集数小于3的删除
      // 应用滤波器
      outrem.filter(*cloud_filtered);
  }
   //用户使用CondtionalRemoval滤波器，
   else if (strcmp(argv[1], "-c") == 0)
   {
     // 创建环境  GT表示大于等于，LT表示小于等于 该比较算子大于等于0小于等于0.8
     pcl::ConditionAnd<pcl::PointXYZ>::Ptr range_cond (new pcl::ConditionAnd<pcl::PointXYZ> ());
     range_cond->addComparison (pcl::FieldComparison<pcl::PointXYZ>::ConstPtr (new
       pcl::FieldComparison<pcl::PointXYZ> ("z", pcl::ComparisonOps::GT, 100.0)));
     range_cond->addComparison (pcl::FieldComparison<pcl::PointXYZ>::ConstPtr (new
       pcl::FieldComparison<pcl::PointXYZ> ("z", pcl::ComparisonOps::LT, 200.0)));
     // 创建滤波器
     pcl::ConditionalRemoval<pcl::PointXYZ> condrem;
  condrem.setCondition(range_cond);
     condrem.setInputCloud (cloud);
    condrem.setKeepOrganized(true);//保持点云的结构
     // 应用滤波器
     condrem.filter (*cloud_filtered);
   }
   else
   {
     std::cerr << "please specify command line arg '-r' or '-c'" << std::endl;
     exit(0);
   }

  std::cout << "输入的点云个数： " << cloud->points.size() << std::endl;
   for (size_t i = 0; i < cloud->points.size(); ++i)
  {
  std::cout << cloud->points[i].x << " "
  << cloud->points[i].y << " "
  << cloud->points[i].z << std::endl;
  }
  std::cout << "输出的点云个数： " << cloud_filtered->points.size() << std::endl;
   for (size_t i = 0; i < cloud->points.size(); ++i)
  {
       std::cout << cloud_filtered->points[i].x << " "
           << cloud_filtered->points[i].y << " "
  << cloud_filtered->points[i].z << std::endl;
  }
  pcl::visualization::PCLVisualizer viewer1;
  pcl::visualization::PCLVisualizer viewer2;
  viewer1.addPointCloud(cloud);
  viewer2.addPointCloud(cloud_filtered);
  while (!viewer1.wasStopped())
  {
      viewer1.spinOnce(100);
      viewer1.spinOnce(100);
  }
  return (0);
}