Ground-truth of raw data in KITTI dataset

[Tiam2Y]

Hi @AlessioTonioni , thanks for sharing your work!
I have a question about the ground-truth (disparity) of raw data in KITTI dataset.
In your paper, you use 2011_09_30_drive_0028_sync sequence (KITTI dataset, Residential environment) to perform online adaptation experiments and calculate D1-all.
But I didn't find the ground-truth of disparity on KITTI official website, only velodyne points.So, how should I get the disparity to experiment?

Looking forward to your answer. Thank you so much!

[mattpoggi]

Hi,
all ground-truth maps were obtained from the KITTI depth prediction benchmark and then converted into disparities by using camera parameters

[Tiam2Y]

Ah, I found it, thank you very much! @mattpoggi