Stereocamera sparse point triangulation - points flattened to parallel planes

Hello everyone, recently I found myself working on a visual odometry system for my company. The system utilizes stereo cameras to generate a sparse point cloud, following this pipeline:

1. Feature extraction (SuperPoint)
2. Feature matching (LightGlue)
3. Triangulation

However, the issue I'm encountering is that from a pair of images with seemingly well-matched points, I obtain a point cloud where the points appear flattened on parallel planes, as if there's discretization happening somewhere in the pipeline.

Honestly, I've checked …

cameras cloud computervision extraction feature found generate hello issue pipeline planes