def METHOD_NAME(self, dataset, folder, frame_index, side):
    if dataset == "kitti":
        f_str = "{:010d}{}".format(frame_index, self.img_ext)
        image_path = os.path.join(self.data_path, folder, f_str)
    elif dataset == "kitti_odom":
        f_str = "{:06d}{}".format(frame_index, self.img_ext)
        image_path = os.path.join(self.data_path,
                                  "sequences/{:02d}".format(int(folder)),
                                  "image_{}".format(self.side_map[side]),
                                  f_str)
    elif dataset == "kitti_depth":
        f_str = "{:010d}{}".format(frame_index, self.img_ext)
        image_path = os.path.join(
            self.data_path, folder,
            "image_0{}/data".format(self.side_map[side]), f_str)
    return image_path