Noise point cloud from bi-linear interpolation

[emojilearning]

As #3 mentioned, depth around edges are noisy. Which is a common case in depth estimation and could have been solved.

As is known, depth sensor return invalid value around edge, which is often shown as black hole, instead of random points.

However, if the incomplete depth map is resized with bi-linear interpolation, the pixels around the holes would be resampled with valid depth and zeros-values in the hole, making the new depth vary from 0 to the ground truth, which is the case here

So if is there raw data of the depth sensor? And we can try to fix the bug by reprocess the depth map.