Question Filtering points from AR Point cloud

Hello beloved developers,
I would like to get some suggestions from you on how to filter out some points in the AR Point cloud. Currently, I'm working on an object scanning to measure heights application, and I want to filter points of the point cloud because it is too noisy in the scene. I want to filter out points by

1. Eliminate/ not display far away points and much higher points than a value.
2. Merge points that are closer for each number of points.

Can anybody help me to achieve this, please?
Thank you in advance!