Ground-truth same-resolution depth for iPhone images from NavVis

Thank you for this extensive dataset!

Is there a built-in or recommended way to generate ground-truth depth maps for the provided iPhone images in the raw files?

My goal is to have sequences of RGB images with corresponding depth at the same resolution (ideally derived from the NavVis system for its accuracy), along with camera intrinsics and a cam2world matrix.

Thank you for your help!