The replay and live scenarios do not use the same input image frame rate (FPS), because it is extremely difficult to recreate the exact bandwidth and live network conditions during replay.
In replay, the images are loaded from file and processed at a simulated constant FPS, so the replay point cloud and the live point cloud can look slightly different.
How to reduce the difference: ensure a stable, high-bandwidth network during acquisition (at least 500 Mbps) and keep the stills publishing rate steady (5 to 10 fps). The closer the live FPS is to a constant rate, the more closely the live and replay point clouds will match.