Update README.md

README.md

@@ -63,7 +63,7 @@ wildos/
 | `RGB_rectified/` | Rectified (undistorted) RGB images | 390 |
 | `SAM_boundaries/` | Binary masks from SAM-2 boundary detection | 390 |
 
-> **Note:** Some images do not have corresponding annotations (362 out of 390 images are annotated). Images without annotations were excluded during quality control.
+> **Note:** Some images do not have corresponding annotations (362 out of 390 images are annotated). Images without annotations were excluded during quality control. The `SAM_boundaries/` folder contains SAM-2 boundary masks used in an ablation study, where frontiers were defined as the SAM boundary segments within human-annotated bounding boxes.
 
 ## Annotation Format
 
@@ -81,10 +81,12 @@ Each annotation file contains a list of frontier detections with the following s
 
 | Field | Description |
 |-------|-------------|
-| `label` | Frontier type (`"frontier"` or `"image_boundary_frontier"`) |
+| `label` | Frontier label (currently `"frontier"` for all annotations) |
 | `start` | Top-left corner `[x, y]` of the bounding box |
 | `end` | Bottom-right corner `[x, y]` of the bounding box |
 
+> **Note:** The `label` field exists because we initially experimented with labeling frontiers of varying strengths. In the final dataset, all annotations use the single label `"frontier"`.
+
 ## Usage
 
 ### Loading the Dataset
@@ -162,7 +164,7 @@ visualize_frontiers(
 
 ### Metadata Mapping
 
-The `metadata.json` file in `RGB_frames/` maps each image to its source in the GrandTour dataset:
+The `metadata.json` file in `RGB_frames/` maps each image index to its source path in the GrandTour dataset:
 
 ```python
 import json
@@ -170,8 +172,8 @@ import json
 with open("wildos/RGB_frames/metadata.json", "r") as f:
     metadata = json.load(f)
 
-# Find original GrandTour image for a specific frame
-original_path = metadata["rgb_00000.png"]
+# Find original GrandTour image for a specific frame index
+original_path = metadata["0"]  # e.g., "release_2024-11-03-07-57-34/hdr_front/hdr_front_01342.png"
 print(f"Original GrandTour path: {original_path}")
 ```
 
@@ -179,9 +181,8 @@ print(f"Original GrandTour path: {original_path}")
 
 - **Total Images**: 390
 - **Total Annotations**: 362 JSON files
-- **Frontier Types**: `frontier`, `image_boundary_frontier`
+- **Frontier Label**: `frontier`
 - **Image Format**: PNG
-- **Source Dataset**: [GrandTour Dataset](https://huggingface.co/datasets/leggedrobotics/grand_tour_dataset)
 
 ## Related Resources