Why the generated real robot‘s color heightmap is not good？？？

[nizhihao]

Hello, first of all thanks for sharing your amazing job. I want to know Why the generated real robot‘s color heightmap is not good？My color heightmaps are often deformed and have a lot of black Points. Is this caused by inaccurate camera calibration? I have try with VPG‘s calibration method.(0.448x0.448 resolution=0.02 and 0.672x0.672 resolution=0.03)
and ROS easy_handeye method. the second method cant get the same R.t matrix with the first. so i can‘t use it.

Thanks in advance ;)