About Realsense camera

[puyiwen]

Hi, it is a great work! I want to know which type of realsense camera to get HC datasets? I have a realsense D435i camera, but the depth map has so much noise.The depth map is very mottled, and there are either many invalid pixels or many uneven light spots. I find the depth maps of HC dataset are very good. How do you get that? Can you help me? Thank you very much!!