Rtab_map scattering using D435i camera

[abmuqhu3]

i'm trying to do the mapping of my environment using d435i camera, and with that in rtabmap the map is scattering to much how to resolve this? and after converting into ply file it is showing like this in the meshlab how to correct it? @matlabbe check this one once please

this is the launch file code i'm using

<remap from="rgb/image"         to="$(arg rgb_topic)"/>
<remap from="depth/image"       to="$(arg depth_topic)"/>
<remap from="rgb/camera_info"   to="$(arg camera_info_topic)"/>
<remap from="odom"              to="/odom"/>

[matlabbe]

This is stereo data, not TOF/LiDAR data, so it is expected. You may ask on realsense2 repo how to get more accurate depth.