PCL Remove Outliers

 #include <pcl/filters/statistical_outlier_removal.h>  
 #include <pcl/filters/extract_indices.h>  
 inline void RemoveOutliers(std::vector<std::vector<double> > pts, std::vector<std::vector<double> >& pts_out, std::vector<int >& indices)  
 {  
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);  
  cloud->width=pts.size();  
  cloud->height=1;  
  cloud->points.resize(cloud->width*cloud->height);  
  for(int i=0;i<cloud->points.size();i++)  
  {  
   cloud->points[i].x=pts[i][0];  
   cloud->points[i].y=pts[i][1];  
   cloud->points[i].z=pts[i][2];  
  }  
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>);  
  pcl::StatisticalOutlierRemoval<pcl::PointXYZ> sor(true);  
  sor.setInputCloud (cloud);  
  sor.setMeanK (50);  
  sor.setStddevMulThresh (1.0);  
  sor.filter (*cloud_filtered);  
  pts_out.resize(cloud_filtered->points.size());  
  for(int i=0;i<cloud_filtered->points.size();i++)  
  {  
     pts_out[i].resize(3);  
     pts_out[i][0]=cloud_filtered->points[i].x;  
     pts_out[i][1]=cloud_filtered->points[i].y;  
     pts_out[i][2]=cloud_filtered->points[i].z;  
  }  
  pcl::IndicesConstPtr ind=sor.getRemovedIndices();  
  pcl::PointIndices::Ptr removed_indices (new pcl::PointIndices());  
  removed_indices->indices = *ind;  
  indices.resize(removed_indices->indices.size());  
  for(int i=0;i<removed_indices->indices.size();i++)  
  {  
   indices[i]=removed_indices->indices[i];  
  }  
 }