Visualization of v1 and v2 model

[Terencedu]

Hi, thank you for your great work! I have some questions of visualization of v1 and v2 model.

Config (v1 model): M3:FlashOCC-4D-Stereo (2f):

1. Why are there two vertical bars of blank space next to the ego car in many pictures?

Config (v2 model): FlashOCCV2-4DLongterm-Depth (16f):

1. Why is the ground plane basically blank？
2. This v2 model did not use camera mask for training. I think it can improve the prediction of invisible area like far sky compared to v1 model, but why does the v2 model predict both the sky and the ground poorly and which part improves in v2 model?

Hope to get your answer, thank you！