Creating a better mesh

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Hi,

I wanted to create mesh of household objects, so that I can later recreate the household scene in Gazebo. I want to use kinect and think that interactively, it can be done quite easily. My exact problem:

After capturing the scene using kinect, I am able to filter out chair, the front view of the chair looks:

However when I am trying to create a mesh from it (using PCL, tutorial at: http://pointclouds.org/documentation/... I am not able to set optimal size of triangles. My mesh looks like:

I need a smooth mesh. As if a low pass filter is passed on it. How can I achieve that.

Any help or pointer is greatly appreciated.