# Appendix B: Datasets and Test Cases

### Dataset requirements <a href="#dataset-requirements" id="dataset-requirements"></a>

<figure><img src="https://3901215982-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FmctUivxSaqImFQnDfPn4%2Fuploads%2Fefge0XRcHSIesC0nWQOh%2Fsnv_time.png?alt=media&#x26;token=17cae254-6da5-4465-ba57-2cae8dd57aaf" alt=""><figcaption></figcaption></figure>

#### Default support: KITTI dataset <a href="#default-support-kitti-dataset" id="default-support-kitti-dataset"></a>

* KITTI is a standard dataset in the field of autonomous driving, containing rich binocular image data.

#### Data organization format <a href="#data-organization-format" id="data-organization-format"></a>

The project requires that the data be organized in the following structure:

```
data/
├── left/
│ ├── 0000000000.png
│ ├── 0000000001.png
│ └── ...
└── right/
├── 0000000000.png
├── 0000000001.png
└── ...
```

#### Data description <a href="#data-description" id="data-description"></a>

1. \*\*Left image (`left`): Left camera image used for disparity matching.
2. \*\*Right image (`right`): Right camera image for disparity matching.

### Test case <a href="#test-case" id="test-case"></a>

#### Test script provided <a href="#test-script-provided" id="test-script-provided"></a>

You can run the test through the script in the `scripts/` folder:

```bash
python test_stereo.py
```

#### Test results <a href="#test-results" id="test-results"></a>

After running the program, it will display:

1. Disparity map
2. Stixel visualization
3. Bounding box annotation map

#### Custom data <a href="#custom-data" id="custom-data"></a>

When using a custom dataset, please:

1. Organize the image data in the above format.
2. Adjust the reading path in `main.cpp`:

   ```cpp
   sprintf(chLeftImageName, "./data/left/%010d.png", cntFrame);
   sprintf(chRightImageName, "./data/right/%010d.png", cntFrame);
   ```
