removeNoise

for (int y = 0; y < xyzMap.rows; y++) {
        for (int x = 0; x < xyzMap.cols; x++) {
            if (ampMap.data != nullptr) {
                if (xyzMap.at<cv::Vec3f>(y, x)[2] > 0.9f ||
                    ampMap.at<float>(y, x) < CONFIDENCE_THRESHHOLD) {
                    xyzMap.at<cv::Vec3f>(y, x)[0] = 0;
                    xyzMap.at<cv::Vec3f>(y, x)[1] = 0;
                    xyzMap.at<cv::Vec3f>(y, x)[2] = 0;
                }
            }
            else {
                if (xyzMap.at<cv::Vec3f>(y, x)[2] > 0.9f)
                {
                    xyzMap.at<cv::Vec3f>(y, x)[0] = 0;
                    xyzMap.at<cv::Vec3f>(y, x)[1] = 0;
                    xyzMap.at<cv::Vec3f>(y, x)[2] = 0;
                }
            }
        }
    }