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I had the same issue, depth data pretty noisy and almost not working.
Got it fixed by re-calibrating the sensor, as R200 has stereo IR camera with a single IR emitter, the calibration can be messed up easily (heat, motion shock, firmware update, ...).
I did the calibration with ROS, the depth result got way better, then decided to test their own calibration software you can find from Download IntelĀ® RealSenseā¢ Camera Calibrator for Windows*. It is pretty easy to use, you just need a light colored non-reflective surface to point the camera at for a while (and move a bit in my case) and the software does the rest.
My sensor is working great now !