支持 HI13/H32 主机 UTC 桥接对齐、多会话联合标定与 CAD 平移先验。

Co-authored-by: Cursor <cursoragent@cursor.com>

tests/test_h32_dlog_export.py

@@ -8,7 +8,8 @@ from pathlib import Path
 import numpy as np
 
 from tools.h32_dlog.difop import CHANNELS, HORIZONTAL_START, VERTICAL_START, parse_difop_angles
-from tools.h32_dlog.dobject import discover_records, iter_payloads, resolve_dlog_root
+from tools.h32_dlog.dobject import RECORD_RE, discover_records, iter_payloads, resolve_dlog_root
+from tools.h32_dlog.timeutil import local_wall_to_dotnet_ticks
 from tools.h32_dlog.load_session import load_h32_dlog_lidar
 from tools.h32_dlog.payload_v1 import (
     MsopPacketItem,
@@ -90,6 +91,19 @@ def _write_dorec_record(
     return start
 
 
+def test_recovered_index_line_and_local_ticks():
+    line = (
+        ">DObject `frontlidar-msop-raw` post len=15532B, id:9CF1, "
+        "tic:639218060782100466, @data.bin:0"
+    )
+    match = RECORD_RE.search(line)
+    assert match is not None
+    assert match.group("name") == "frontlidar-msop-raw"
+    assert match.group("file") == "data.bin"
+    assert int(match.group("offset")) == 0
+    assert local_wall_to_dotnet_ticks("2026-08-08T17:14:38") == 639218060780000000
+
+
 def test_parse_msop_and_difop_payload_roundtrip():
     packet = _make_msop_packet(seconds=1700000000, microseconds=123456)
     item = MsopPacketItem(