The roofs, treetops, etc. look terrible because the depth data is significantly lower resolution than the photos. This causes the deformed polygons you're seein

The roofs, treetops, etc. look terrible because the depth data is significantly lower resolution than the photos. This causes the deformed polygons you're seeing... The actual resolution of the photos of the roofs/treetops are just as good as everything else, they're just stretched over bad 3d data.