update README.md

README.md

@@ -33,4 +33,57 @@ configs:
     path: data/train-*
 ---
 
-# CV Project
+# Omni CV Project Dataset
+
+The **Omni CV Project** is a compact robotics dataset combining:
+
+- [x] Raw ROS 2 MCAP bag (stereo, depth, TF, odom)  
+- [x] Ground-truth mesh (STL)  
+- [x] Distilled synchronized dataset (100 samples)  
+
+This dataset is suitable for:
+
+- Depth networks  
+- VO / SLAM benchmarking  
+- 3D reconstruction  
+- Neural radiance fields (NeRF)  
+- Robotics perception research  
+- Sensor fusion and pose estimation  
+
+---
+
+# Contents
+
+## 1. **Raw Data (`raw/`)**
+
+Contains the original ROS 2 MCAP recording:
+
+- `/zed/zedxm/left/color/rect/image`
+- `/zed/zedxm/right/color/rect/image`
+- `/zed/zedxm/depth/depth_registered`
+- `/zed/zedxm/odom`
+- `/tf`, `/tf_static`
+- Associated `CameraInfo`
+
+This folder is meant for researchers who want full-resolution, full-rate data.
+
+## 2. **Meshes (`meshes/`)**
+
+Includes:
+
+- `omni_mesh.stl` — ground-truth geometry for SDF + reconstruction metrics.
+
+## 3. **HF Samples (`hf_samples/`)**
+
+A distilled dataset of 100 synchronized samples created using  
+`message_filters.ApproximateTimeSynchronizer`.
+
+Each sample contains:
+
+- Left stereo image  
+- Right stereo image  
+- Depth map (uint16, mm)  
+- `metadata` JSON containing:
+  - timestamp  
+  - position `[x,y,z]`  
+  - orientation quaternion `[qx,qy,qz,qw]`