How to remove wrong MapCloud

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Hello,

I am simulating the work of the stereo camera with help of the RTabMap and Gazebo. Everything works fine, but when I add "MapCloud" in rviz I see a lot of points that "fly in the air" (see the screenshots link text, link text). It looks like part of an object, but camera detects distance to this part of the object improperly for some reasons.Are there any filters or RTabMap parameters for solving this problem?

Thanks