point cloud seems bad

[suimo]

Hi, I have reconstructed point cloud with predict depth image, but there is something weird

so I reconstruct another point cloud with the true depth(calculated with lidar points)

I don't know what's wrong, could anyone give me some advice!
here are the point clouds
point_cloud.tar.gz

[Kewenjing1020]

Hi @suimo, how do you reconstruct the point clouds with a depth map? Could you share the related projects?

[jm5948]

I have same problem..., you solve this?