This is an OpenCV package for simulating RGB-D sensor such as Kinect or Xtion sesor noise as described in the following paper:

A Benchmark for RGB-D Visual Odometry , 3D Reconstruction and SLAM. Ankur Handa, Thomas Whelan, John McDonald, Andrew J. Davison In ICRA, 2014

• OpenCV 3.0
• Boost
• Eigen
• Sophus
• CUDA

Make sure you have all dependency installed correctly.

$ git clone ...
$ cd rgbd_simulation
$ mkdir build
$ cd build
$ cmake ..
$ make 

• Download the noise free RGB-D data from ICL dataset.
• Extract the file into a folder. (tar -xvf living.tar.gz).
• Edit line 159 - 160 to specify the input and output folder.
• compile again and excute the code.

$ make
$ ./ICL

The left is the original depth map and right is depth map with simulated kinect noise added.