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Noise in kinect simulation of pointcloud

I am using Gazebo 2 with ROS Indigo to simulate XtionProLive cameras and test my perception code. I would like to add white noise on the depth to get more realistic pointClouds. I looked up the gazebo_ros_depth_camera and gazebo_ros_openni_kinect plugins but couldn't find how to add noise on the depth.

I managed to add noise on the rgb using <camera> <noise> <type>gaussian</type> <mean>0.0</mean> <stddev>0.007</stddev> </noise> </camera>

Thank you for any help you may provide!

Noise in kinect simulation of pointcloud

I am using Gazebo 2 with ROS Indigo to simulate XtionProLive cameras and test my perception code. I would like to add white noise on the depth to get more realistic pointClouds. I looked up the gazebo_ros_depth_camera and gazebo_ros_openni_kinect plugins but couldn't find how to add noise on the depth.

I managed to add noise on the rgb using

<camera>
  <noise>
    <type>gaussian</type>
    <mean>0.0</mean>
    <stddev>0.007</stddev>
  </noise>
</camera>

</camera>

Thank you for any help you may provide!