Hi,
the masked depth used in your fusion code is from the ground truth disparity in stereo2015. For the normal sensor data, it don't have ground truth disparity image. Can you tell me how to implement the fusion algorithm on Raw data of KITTI(without ground truth disparity image, only left-right camera and lidar)?
I have transformed the 3D lidar points to depth value, and disparity = (f_u*baseline)/z as masked depth. however, the fused results are bad, worse than the original sgm. Or can you share the script which you used to produce the PMD Monstar Dataset? In you paper,you also get disparity from the depth meansurements and it seems to be a success, thanks a lot.