Point clouds has sharp fluctuations

[Tom127]

@dorodnic @ev-mp
hello, I want to test the accuracy of (x, y, z,) calculated by rs.rs2_deproject_pixel_to_point, let the camera face the wall in parallel to calculate the corresponding (x, y, z) and visualize it on rviz, but as shown in the video, (x, y, z) fluctuates sharply. I don't know why? Normal conditions should be relatively stable, aren't they?
thanks for your help! Attach my code:

projection_test.txt

pointclouds.mp4.zip

[ev-mp]

@Tom127 hello,
It is not clear from the capture what device type is used, the range to the target and target's characteristics: texture, reflectivity, ambient conditions , so I can outline the general recommendations only-

1. There are recommended setups (resolution/presets) per camera type tuned for accuracy. For instance the best results for D415 are achieved with 1280X720. For D435 you should use 848X480.
   https://github.com/IntelRealSense/librealsense/wiki/D400-Series-Visual-Presets.
2. Apply post-processing filters, the temporal filter in particular

There is a significant body of depth noise improvement techniques and methods discussed, e.g. #1280, #1375, #2289, #3625.

A concised summary of the recommended readings was compiled by @MartyG-RealSense in 3625

[ev-mp]

@Tom127 hello, was the information helpful ?
Please update

[RealSenseCustomerSupport]

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