diff --git a/BENCHMARK.md b/BENCHMARK.md
index 76d00e1..06f9f17 100644
--- a/BENCHMARK.md
+++ b/BENCHMARK.md
@@ -1,5 +1,11 @@
 # Benchmark
 
+## Dataset
+
+The following benchmark requires the KITTI odometry evaluation dataset. You can download the full dataset (80GB) from [the official dataset page](https://www.cvlibs.net/datasets/kitti/eval_odometry.php) or a part of the dataset (500 frames in 00 sequence, 622MB) from [google drive (KITTI00.tar.gz)](https://drive.google.com/file/d/1h9tARKvX6BwLfc_vfMfdxuP3bSbmgjmd/view?usp=sharing).
+
+Note that because the original KITTI dataset is distributed under the CC BY-NC-SA 3.0 license, the derived dataset (KITTI00.tar.gz) must not be used for commercial purposes.
+
 ## Build
 
 ```bash
diff --git a/cmake/FindIridescence.cmake b/cmake/FindIridescence.cmake
deleted file mode 100644
index 4b204d6..0000000
--- a/cmake/FindIridescence.cmake
+++ /dev/null
@@ -1,21 +0,0 @@
-find_path(Iridescence_INCLUDE_DIRS glk/drawable.hpp
-  HINTS /usr/local/include/iridescence /usr/include/iridescence
-  DOC "Iridescence include directories")
-
-find_library(Iridescence_LIBRARY NAMES iridescence
-  HINTS /usr/local/lib /usr/lib
-  DOC "Iridescence libraries")
-
-  find_library(gl_imgui_LIBRARY NAMES gl_imgui
-  HINTS /usr/local/lib /usr/lib
-  DOC "Iridescence libraries")
-
-set(Iridescence_LIBRARIES ${Iridescence_LIBRARY} ${gl_imgui_LIBRARY})
-
-add_library(Iridescence::Iridescence INTERFACE IMPORTED GLOBAL)
-set_target_properties(Iridescence::Iridescence PROPERTIES
-  INTERFACE_INCLUDE_DIRECTORIES "${Iridescence_INCLUDE_DIRS}"
-  INTERFACE_LINK_LIBRARIES "${Iridescence_LIBRARIES}")
-
-include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(Iridescence DEFAULT_MSG Iridescence_INCLUDE_DIRS Iridescence_LIBRARIES)