Update README.md

README.md

@@ -17,16 +17,17 @@ configs:
   <source src="https://cdn-uploads.huggingface.co/production/uploads/608c79739c5a8f8ddd85c409/SVwh26SkRYi5QsH6A76xj.mp4" type="video/mp4">
 </video>
 
-A 5k preview of comma.ai's self-driving dataset containing one-minute driving segments with road-camera video, and full localization data.
+A 5k preview of comma.ai's self-driving dataset containing one-minute driving segments with road-camera video, logs, and full localization data.
 
 ## Dataset collection
 
 Segments were recorded by comma devices installed in real user vehicles. The collection spans several hardware generations (comma three, comma 3X, and comma four)
 
-![hw_types](https://cdn-uploads.huggingface.co/production/uploads/608c79739c5a8f8ddd85c409/F3dVqtMBR0zIicx1RD4Ek.png)
+<img src="https://cdn-uploads.huggingface.co/production/uploads/608c79739c5a8f8ddd85c409/F3dVqtMBR0zIicx1RD4Ek.png" alt="hw_types" width="500"/>
 
-Each segment includes an offline localization estimate in `localizer.safetensors`. It fuses raw GNSS measurements, accelerometer and gyroscope data, vehicle motion constraints, and visual feature tracks from the road cameras.
+Each segment includes a narrow FOV camera, wide FOV camera, preview thumbnail, log file with various measurements (GNSS, IMU, etc.), frame timing data, and offline localization data.
 
+The offline `localizer.safetensors` is the result of an a fusion of raw GNSS measurements, accelerometer and gyroscope data, vehicle motion constraints, and visual feature tracks from the road cameras providing an accurate localization estimate.
 
 ## Structure
 
@@ -36,7 +37,9 @@ data/
     ├── fcamera.hevc
     ├── ecamera.hevc
     ├── thumbnail.jpg
-    └── localizer.safetensors
+    ├── localizer.safetensors
+    ├── frame_info.safetensors
+    └── rlog.zst
 ```
 
 ## Example usage
@@ -51,7 +54,7 @@ from PIL import Image
 segment_id = "001774ef60cf6c43657cd317035fae58"
 
 thumbnail_path = hf_hub_download(
-  repo_id="commaai/comma1M", repo_type="dataset",
+  repo_id="commaai/comma5k", repo_type="dataset",
   filename=f"data/{segment_id}/thumbnail.jpg",
 )
 Image.open(thumbnail_path).show()
@@ -61,7 +64,7 @@ Image.open(thumbnail_path).show()
 
 ```python
 localizer_path = hf_hub_download(
-  repo_id="commaai/comma1M", repo_type="dataset",
+  repo_id="commaai/comma5k", repo_type="dataset",
   filename=f"data/{segment_id}/localizer.safetensors",
 )
 states = load_file(localizer_path)["states"]
@@ -79,6 +82,19 @@ fig.update_layout(map={"style": "open-street-map","center": {"lat": float(np.mea
 )
 fig.show()
 ```
+<img src="https://cdn-uploads.huggingface.co/production/uploads/608c79739c5a8f8ddd85c409/MR00BzcF_gCATP4nombod.png" alt="map" width="800"/>
 
-![newplot](https://cdn-uploads.huggingface.co/production/uploads/608c79739c5a8f8ddd85c409/MR00BzcF_gCATP4nombod.png)
+```python
+from openpilot.tools.lib.logreader import LogReader
+
+rlog_path = hf_hub_download(
+  repo_id="commaai/comma5k",
+  repo_type="dataset",
+  filename=f"data/{segment_id}/rlog.zst",
+)
 
+lr = LogReader(rlog_path)
+speeds = [state.vEgo for state in lr.filter("carState")]
+print(f"max speed: {max(speeds):.2f} m/s")
+# max speed: 16.76 m/s
+```