Document code utilities

README.md

@@ -70,6 +70,7 @@ SP-TransientBench/
 |-- Reconstruction/         multi-view reconstruction scene archives
 |-- Annotations/            semantic annotation archives
 |-- Histgram/               semantic-track raw histograms and depth maps
+|-- codes/                  annotation, point-cloud conversion, simulation, and reconstruction tools
 `-- config/                 SPL calibration, extrinsics, parsing settings, and IRF data
 ```
 
@@ -150,6 +151,16 @@ Histgram/
 
 Inside each sequence archive, semantic labels are stored as `.npy` arrays named like `RawDataHistogramMap_frame_*_semantic.npy`. Each array has shape `(49152, 672)`, where `49152 = 256 x 192`, and stores `uint8` semantic ids with `0` for unlabeled/background bins and `1-13` for semantic classes.
 
+## Code
+
+The `codes/` folder contains utility code released with STB:
+
+- `codes/annotation tool/labelLidarwave.py`: a single-photon LiDAR waveform annotation tool.
+- `codes/pointcloud_extract/raw2pc.py`: converts raw histogram `.txt` files into point clouds using the maximum-bin histogram method.
+- `codes/pointcloud_extract/ann2pc.py`: converts annotated `.npy` semantic data into corresponding semantic point clouds.
+- `codes/simulator/`: simulation tools used for STB experiments.
+- `codes/reconstruction/`: STB reconstruction code based on the TransientNeRF method.
+
 ## Task Details
 
 ### Depth Estimation
@@ -199,6 +210,7 @@ The annotation pipeline identifies dominant peaks, assigns semantic labels to pe
 | `Reconstruction/` | Scene packages for sparse-view SPL reconstruction and novel-view evaluation |
 | `Annotations/` | Histogram-domain semantic label packages for `27` sequences |
 | `Histgram/` | Raw histogram packages and sequence-level depth maps for the semantic track |
+| `codes/` | Annotation, point-cloud conversion, simulation, and TransientNeRF-based reconstruction code |
 | `config/config.yaml` | SPL intrinsics, distortion coefficients, temporal bin width, image size, and parsing settings |
 | `config/IRF_global.csv` | Global instrument response function (IRF) measurements for transient calibration and analysis |
 | `config/final_extrinsic_sp_to_livox.txt` | SPL-to-Livox extrinsic calibration used for cross-sensor alignment |