Extract disparity maps from the Pre-rendered Dataset

[bartn8]

Dear Authors,
Thanks for your very interesting work.

I'm trying to extract a disparity map from the Pre-rendered Dataset, however, I have some difficulties.

Firstly, given frame0, I tried to extract a depth map from data_0 -> denoising_position_map -> layer 0, however, the XYZ coordinates seem normalized between 0 and 1: to "resolve" the problem I applied the extrinsic_mat inside data_0.

Next, I used the c_x and stereo_interocular_distance [m] inside camera_info.json to convert the depth map to a disparity map.

Here there is an example using frame 2_118.

The colormap seems consistent, however, this procedure is wrong somewhere since the warped image is different w.r.t image_1

Do you have any suggestions?

Thanks for your time and support.

Best regards,
Luca