Wanna generate disparity train data

[Hymilex]

Hey,bro! I wanna fine tune model by using my own data including stereo images and vlp-16 lidar data calibrated.
Qua:
how to produce and construct disparity data using my own data?
In my opinion, there r 2 ways to generate :
a.use lidar depth map calibrated to inverse as disparity image using d = bf/z
b.use traditional method,like SGM etc to calculate disparity image by stereo images.
Look forward your rely!Thanks.
@JiaRenChang