def kitti_benchmark_crop(input_img):
        """
        Crop images to KITTI benchmark size
        Args:
            `input_img` (torch.Tensor): Input image to be cropped.

        Returns:
            torch.Tensor:Cropped image.
        """
        KB_CROP_HEIGHT = 352
        KB_CROP_WIDTH = 1216

        height, width = input_img.shape[-2:]
        top_margin = int(height - KB_CROP_HEIGHT)
        left_margin = int((width - KB_CROP_WIDTH) / 2)
        if 2 == len(input_img.shape):
            out = input_img[
                top_margin : top_margin + KB_CROP_HEIGHT,
                left_margin : left_margin + KB_CROP_WIDTH,
            ]
        elif 3 == len(input_img.shape):
            out = input_img[
                :,
                top_margin : top_margin + KB_CROP_HEIGHT,
                left_margin : left_margin + KB_CROP_WIDTH,
            ]
        return out

        Crop images to KITTI benchmark size
        Args:
            `input_img` (torch.Tensor): Input image to be cropped.

        Returns:
            torch.Tensor:Cropped image.
        
src/dataset/kitti_dataset.py