This article is only considering static images. Lidar static "images" necessarily contain depth information so yeah obviously they'll have better depth estimates.

But that's really beside the point because the world is not static and any system attempting self-driving will need to take that into account.

Using parallax measurements which is what Tesla says they are doing, you can dramatically increase the estimates of depth measurements by comparing multiple frames of 2D images.

Also, just a reminder that Tesla is also using radar in conjunction with the cameras.