Update reconstruction data format from AI_floor2 example

README.md

@@ -148,7 +148,31 @@ config/
 ```
 
 - Each file under `Reconstruction/` is one compressed scene package for multi-view reconstruction.
-- The scene package contains the per-view transient observations and the metadata needed by the reconstruction benchmark for that location.
+- After decompression, a scene package follows the same organization as the `AI_floor2` example:
+
+```text
+AI_floor2/
+  RawDataHistogramMap_frame_0_<timestamp>.txt
+  1.csv ... 26.csv
+  sp_pose_results.csv
+  sp_merged_map.ply
+  json/
+    three_views/
+      train.json
+      test.json
+    five_views/
+      train.json
+      test.json
+    ten_views/
+      train.json
+      test.json
+```
+
+- `RawDataHistogramMap_frame_0_<timestamp>.txt` stores one SPL view. Each valid row is a whitespace-separated `672`-bin photon-count histogram, and the valid rows correspond to the flattened `256 x 192` image grid (`49152` pixels).
+- `{view_id}.csv` stores the Livox point cloud associated with a captured view. The CSV columns include `Timestamp`, metric coordinates `X,Y,Z`, `Reflectivity`, and original Livox fields such as `Ori_x,Ori_y,Ori_z`.
+- `sp_pose_results.csv` maps each SPL histogram file to the matched Livox CSV/pose and records both `livox_pose_*` and `sp_pose_*` as flattened `4 x 4` transformation matrices. It also includes bookkeeping fields such as `used_in_final_merge`, `matched_livox_index`, and `match_mode`.
+- `sp_merged_map.ply` is the scene-level merged reference map generated from the registered captures. In the provided example it is an Open3D binary little-endian PLY with `x,y,z` and RGB vertex fields.
+- `json/{three_views,five_views,ten_views}/train.json` and `test.json` define the official sparse-view reconstruction splits. They follow a NeRF-style format with `camera_angle_x`, a list of `frames`, each frame's `file_path`, and a `transform_matrix`.
 - `config/config.yaml` provides common sensor settings and SPL calibration parameters used when parsing the released data, including `dt_ps: 750`, `image_sizes: [256, 192]`, and calibrated intrinsics/distortion parameters for `p1` and `p2`.
 - Benchmark experiments select `3`, `5`, or `10` views from a scene package as input views and reserve the remaining views for novel-view evaluation.