Create README.md

README.md

@@ -0,0 +1,12 @@
+# SCARED-C: Corrected Camera Poses for Endoscopic Depth Estimation
+The SCARED dataset is a widely used benchmark for endoscopic depth estimation, offering ground-truth 3D reconstructions captured with a structured light sensor. However, the depth maps for non-keyframe images rely on robot kinematics that introduce substantial pose errors, limiting the reliably labeled portion of the dataset to 35 keyframes. We present SCARED-C, a corrected version of the SCARED dataset that expands the number of reliable RGB-D pairs from 35 to 17,135. Our pipeline applies COLMAP, a Structure-from-Motion system, to re-estimate camera poses for all frames, followed by a scale recovery step that aligns the resulting reconstructions to metric space using the ground-truth keyframe depth maps. We validate the corrected poses through (1) stereo disparity evaluation and (2) monocular depth estimation experiments. 
+
+The format of the dataset is identical to that of the original SCARED dataset. We simply replaced all `dataset_x/keyframe_y/data/frame_data.tar.gz` with the corrected poses. However, there are still some notable differences between the two. 
+
+First, we have added a `frame_log.json` in each sequence folder. This file simply contains all of the registered images in COLMAP. You will notice that majority of the frames from the original dataset are included, and the only notable difference is dataset 2, keyframe 1 (88 frames --> 11 frames). 
+Second, we add a `intrinsics_colmap.yaml`. This file contains the estimated intrinsics from COLMAP. We did not observe any notable difference when using these intrinsics versus the ones provided in the original dataset. We still include these in case they are useful for downstream tasks. You can read them the same way as the original `endoscope_calibration.yaml` (e.g., with `cv2.FileStorage()`) although you will need to read both if you need the stereo calibration as well. 
+Finally, we also include `data/rgb_frames.tar.gz` in each sequence folder. These frames are simply the registered frames from `rgb.mp4`, e.g., the frames corresponding to `frame_log.json`. We pre-extract these frames for the user's convenience. We also include the original `rgb.mp4` just in case. 
+
+For more details on the dataset, please refer to the corresponding preprint [here](https://scholar.google.com/citations?user=FORN3dsAAAAJ&hl=en). The COLMAP code and scale recovery code is [here](https://github.com/juseonghan/SCARED-C/tree/main). 
+
+For questions, please open a Github issue and we will be as prompt as possible in getting back to you.