improve pointcloud streams [closed]

edit

I'm having problems on how to filter those few noisy streams near the camera, the clip is here https://youtu.be/ypiaW1GZGOA

what I've tried so far is to calibrate, wondered if the distortion model affects those noise , the default uses plumb bob. but upon using below config:

image_width: 640
image_height: 480
camera_name: depth_PS1080_PrimeSense
camera_matrix:
  rows: 3
  cols: 3
  data: [570.478986, 0.000000, 330.949612, 0.000000, 577.133855, 202.275876, 0.000000, 0.000000, 1.000000]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [0.034195, 0.018035, -0.022867, 0.001739, 0.000000]
rectification_matrix:
  rows: 3
  cols: 3
  data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
projection_matrix:
  rows: 3
  cols: 4
  data: [587.691833, 0.000000, 331.098836, 0.000000, 0.000000, 582.344971, 192.450352, 0.000000, 0.000000, 0.000000, 
  1.000000, 0.000000]

but after i use this the config, the stream is just straight vertical, most pointclouds are gone.

any suggestions would definitely help thanks!