# PCL outlier removal error with swissranger [closed]

I'm getting this error when I try to run PCL's statistical outlier removal with PointCloud2 data from a swissranger 4000:

Input dataset is not from a projective device!

It's the same problem described here: http://www.pcl-users.org/Definition-of-a-Projective-Device-td4018681.html

Has anyone run into this before? I haven't found anything in PCL documentation about how to fix this.

I can't help you much, but you are not the only one: http://stackoverflow.com/questions/14877375/pclintegral-image-normal-estimation-from-kinect-depth-image#comment20880612_14877375 ... does the error message report how many valid points are found while estimating projective camera params?

It lists the number of valid points it finds, thought I'm not sure what that means. I should probably pose this question to the PCL mailing list... if I find anything out there, I'll post it here.

I thought it might give a clue; if it's low compared to the number of non-NaN points in the cloud then it means it can't find enough points that fit any set of camera parameters.If so, it's possible that the way you are putting the points into the organised array is wrong; try visualising the array.

Also, check there are enough non-NaN points. This is the extent of my suggestions. Good luck.

Thanks for the help, I'll see what I can figure out.