How to modify an existing point cloud generated from simulation

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How to modify an existing point cloud generated from simulation

ravijoshi
I have generated a few point clouds from a simulated Kinect. Please see a
screenshot of the environment below-

<http://www.pcl-users.org/file/t499210/home_point_cloud.png>

Please note that the Kinect sensor is kept on a table and red colored points
are detected by Kinect. These red colored points are a part of the point
cloud. From this simulation, I have acquired point clouds of the following
type: pcl::PointCloud<pcl::PointXYZRGB>

Let's get into the problem. There are following issues with this point
cloud-
(1) Points are being detected at the boundary where there is free space
(2) The generated point cloud is very smooth and it doesn't contain any
noise

For the problem number (1), I think we should be able to clip that area by a
filter. However, I don't know how to add noise to the point cloud to make it
look similar as we get from the real Kinect sensor.

Can anyone please tell me how to add such noise to a point cloud?

-
Thanks




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