About cityscapes disparity to depth_gt

[willemeng]

Hello, you mentioned in your README "We provide ground truth depth files HERE, which were converted from pixel disparities using intrinsics and the known baseline. Download this and unzip into splits/cityscapes.", how do you deal with the original disparity data and generate the .npy, I'm having some issues trying. If so, is it possible to make the code public?

[willemeng]

like this

[JamieWatson683]

To convert a disparity map to a depth map you need the focal length in pixels (call this f, taken as the top left element of the intrinsics matrix, i.e. fx ) and the baseline between the 2 stereo cameras (call this b).

Given these you can obtain depth via depth = f * b / disparity

Hope this helps!