Hey MacD - this looks more like stereo-depth outliers than a pointcloud-specific issue. The sky is a low-texture/high-brightness region, so stereo matching can occasionally produce false valid depth there; the pointcloud is then just visualizing those depth pixels.
On OAK4, I’d first try a stricter stereo setup: enable LR-check, use subpixel for longer range, and tune confidence/post-processing filters such as speckle, median/mean decimation, brightness, and depth thresholding. The stereo tuning guide has the relevant sections here: Configuring Stereo Depth, especially “Fixing noisy depth” and “Fixing noisy pointcloud”.
For the app side, I’d also filter out impossible depth ranges or mask the sky/upper part of the frame if it is not useful for detections. If the false points stay fixed even on textured scenes, then it would be worth checking calibration. Calibration info is here: Manual Calibration /Dynamic Calibration
Best,
Oskar
