Where Matlab lacks units
Disparity to Depth Calculation
The Cityscapes dataset contains disparity maps that have to be converted to depth manually. The README says:
precomputed disparity depth maps. To obtain the disparity values, compute for each pixel p with p > 0: d = ( float(p) - 1. ) / 256., while a value p = 0 is an invalid measurement
With the right formula this may be converted to depth in meter. Units would help making this calculation correctly. I suffixed the variables with the units and checked each calculation manually.