update

README.md

@@ -122,22 +122,22 @@ Each example follows the same top-level schema. Some fields are split-dependent:
 Example record:
 ```json
 {
-  "image_left": { "path": "left/0.000000.png", "bytes": null },
-  "image_right": { "path": "right/0.000000.png", "bytes": null },
-  "timestamp": 0.0,
+  "image_left": Image,
+  "image_right": Image,
+  "timestamp": float,
 
-  "gyro": [0.0, 0.0, 0.0],
-  "accel": [0.0, 0.0, 0.0],
+  "gyro": [wx, wy, wz],
+  "accel": [ax, ay, az],
 
-  "sync_dt": [0.0, 0.0],
+  "sync_dt": [dt_right, dt_imu],
 
-  "position": [0.0, 0.0, 0.0],
-  "orientation": [0.0, 0.0, 0.0, 1.0]
+  "position": [x, y, z],
+  "orientation": [qx, qy, qz, qw]
 }
 ```
 
 Notes:
-- `gyro` is in rad/s and `accel` is in m/s^2.
+- `gyro` is in $\mathrm{rad/s}$ and `accel` is in $\mathrm{m/s^2}$.
 - `sync_dt = [dt_right, dt_imu]` are time offsets (in seconds) relative to `timestamp` (left image):
   - `dt_right = t_right - t_left`
   - `dt_imu = t_imu - t_left`
@@ -149,12 +149,9 @@ Each split contains 100 randomly sampled, synchronized frames:
 - Start/end trimmed to remove initialization artifacts
 
 Synchronization constraints:
-
-| Constraint | Threshold |
-| --- | --- |
-| $\\lvert t_{left} - t_{right} \\rvert$ | $\\le 5\\ \\mathrm{ms}$ |
-| $\\lvert t_{left} - t_{imu} \\rvert$ | $\\le 5\\ \\mathrm{ms}$ |
-| $\\lvert t_{left} - t_{odom} \\rvert$ (VIO only) | $\\le 5\\ \\mathrm{ms}$ |
+- $\lvert t_{left} - t_{right} \rvert \le 5\ \mathrm{ms}$
+- $\lvert t_{left} - t_{imu} \rvert \le 5\ \mathrm{ms}$
+- $\lvert t_{left} - t_{odom} \rvert \le 5\ \mathrm{ms}$ (VIO only)
 
 ### Missing Data Handling