Update README.md

README.md

@@ -118,11 +118,7 @@ The 25 keyframes (with structured-light ground-truth depth) from datasets 1, 2,
 
 #### Data Collection and Processing
 
-The source RGB images and structured-light keyframe depth maps come directly from the original SCARED dataset. Our processing pipeline:
-
-1. **Pose estimation.** For each video sequence, COLMAP is run on the left-camera frames at native resolution (1024 × 1280). Because da Vinci images are natively undistorted, no additional undistortion is applied. The keyframe RGB image is included in the COLMAP input so that the keyframe is registered into the same reconstruction. The provided camera intrinsics initialize bundle adjustment and are refined during optimization.
-2. **Scale recovery.** The COLMAP sparse point cloud is projected onto the image plane at the keyframe pose to obtain an unscaled depth map $\hat{D}$. The metric scale factor is computed as $s = \mathrm{median}(D / \hat{D})$, where $D$ is the structured-light keyframe depth. The metric per-frame pose is then $T_i = (R_i, s \cdot \hat{t}_i)$.
-3. **Depth reprojection.** The keyframe depth map is reprojected through the corrected metric poses to produce a per-frame depth map for every co-registered video frame.
+The source RGB images and structured-light keyframe depth maps come directly from the original SCARED dataset. Our processing pipeline is specified in the associated preprint. 
 
 Datasets 4 and 5 from the original SCARED release have known calibration issues and are excluded.