OPT-8241-CDK-EVM and noisy depth image

I am trying to receive depth image from TOF camera loaded with MetrilusShortRange profile.

My setting is as follow.

void TOFApp::Init(int w, int h)
{
   _isRunning = false;
   _dimen.width = w;
   _dimen.height = h;
   _loopDelay = 20;
   _illum_power = 100U;
   _intg = 20U;
}



bool TOFApp::connect()
{
    
    for(auto &p: profiles)
    {
      std::cout << p.first << ", " << p.second;

      if (p.second == "MetrilusShortRange")//Long Range// High Ambient//MetrilusLongRange//MetrilusShortRange
         profile_id = p.first;
      
      ConfigurationFile *c = _depthCamera->configFile.getCameraProfile(p.first);
      
      if(c && c->getLocation() == ConfigurationFile::IN_CAMERA)
        std::cout << " (HW)";
      
      std::cout << std::endl;
    }

    cout << "Profile ID = " << profile_id << endl;
    if (_depthCamera->setCameraProfile(profile_id)) 
       cout << "Profile setting succeeded." << endl;
	
#if defined (DEPTHFRAME)
	_depthCamera->registerCallback(DepthCamera::FRAME_DEPTH_FRAME, frameCallback);//FRAME_DEPTH_FRAME
#elif defined(POINTCLOUD)
	_depthCamera->registerCallback(DepthCamera::FRAME_XYZI_POINT_CLOUD_FRAME, frameCallback);//FRAME_DEPTH_FRAME
#endif
	FrameRate fr;
	fr.numerator = 15;
	fr.denominator = 1;
   _depthCamera->setFrameSize(_dimen); 
   _depthCamera->set("intg_duty_cycle", _intg);
   //_depthCamera->set("intg_time", 0.01267f);
   _depthCamera->set("illum_power_percentage", _illum_power);   
   _depthCamera->setFrameRate(fr)
  
  
   
   return true;
}

If I set the same parameter at VoxelViewer, the image is quite clean.

What could be wrong? If I set the same setting to VoxelViewer, I can have good images.

Thanks