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>

tools/h32_dlog/load_session.py

@@ -10,16 +10,21 @@ import numpy as np
 from tools.rscap_v2.h32_msop import default_horizontal_deg, default_vertical_deg
 
 from .difop import DifopAngles, parse_difop_angles
-from .dobject import discover_records, iter_payloads, resolve_dlog_root
+from .dobject import (
+    discover_records_from_source,
+    iter_payloads_from_source,
+    open_dlog_source,
+)
 from .payload_v1 import parse_difop_payload, parse_msop_batch_payload
 
 
 @dataclass
 class H32DlogLidarSession:
-    dlog_root: Path
+    dlog_root: str
     msop_object: str
     difop_object: str
     msop_packets: list[bytes]
+    msop_host_utc_ticks: list[int]
     msop_batch_count: int
     difop_record_count: int
     angle_source: str
@@ -27,6 +32,8 @@ class H32DlogLidarSession:
     horizontal_deg: np.ndarray
     session_id: str | None = None
     lidar_ip: str | None = None
+    host_ticks_min: int | None = None
+    host_ticks_max: int | None = None
 
 
 def load_h32_dlog_lidar(
@@ -35,65 +42,99 @@ def load_h32_dlog_lidar(
     msop_object: str = "frontlidar-msop-raw",
     difop_object: str = "frontlidar-difop-raw",
     require_difop: bool = False,
+    host_ticks_min: int | None = None,
+    host_ticks_max: int | None = None,
 ) -> H32DlogLidarSession:
-    root = resolve_dlog_root(dlog_root)
-    msop_packets: list[bytes] = []
-    batch_count = 0
-    session_id: str | None = None
-    lidar_ip: str | None = None
+    with open_dlog_source(dlog_root) as source:
+        # DIFOP angles: prefer packets inside the window, else any in the capture.
+        angles: DifopAngles | None = None
+        difop_count = 0
+        session_id: str | None = None
+        lidar_ip: str | None = None
+        for _record, payload in iter_payloads_from_source(
+            source,
+            difop_object,
+            host_ticks_min=host_ticks_min,
+            host_ticks_max=host_ticks_max,
+        ):
+            difop = parse_difop_payload(payload)
+            difop_count += 1
+            try:
+                angles = parse_difop_angles(difop.raw)
+            except ValueError:
+                continue
+            if session_id is None:
+                session_id = difop.session_id
+                lidar_ip = difop.lidar_ip
 
-    for _record, payload in iter_payloads(root, msop_object):
-        batch = parse_msop_batch_payload(payload)
-        batch_count += 1
-        if session_id is None:
-            session_id = batch.session_id
-            lidar_ip = batch.lidar_ip
-        for item in batch.packets:
-            msop_packets.append(item.raw)
+        if angles is None:
+            for _record, payload in iter_payloads_from_source(source, difop_object):
+                difop = parse_difop_payload(payload)
+                difop_count += 1
+                try:
+                    angles = parse_difop_angles(difop.raw)
+                except ValueError:
+                    continue
+                if session_id is None:
+                    session_id = difop.session_id
+                    lidar_ip = difop.lidar_ip
+                if angles is not None:
+                    break
 
-    angles: DifopAngles | None = None
-    difop_count = 0
-    for _record, payload in iter_payloads(root, difop_object):
-        difop = parse_difop_payload(payload)
-        difop_count += 1
-        try:
-            angles = parse_difop_angles(difop.raw)
-        except ValueError:
-            continue
-        if session_id is None:
-            session_id = difop.session_id
-            lidar_ip = difop.lidar_ip
+        msop_packets: list[bytes] = []
+        msop_host_utc_ticks: list[int] = []
+        batch_count = 0
+        for record, payload in iter_payloads_from_source(
+            source,
+            msop_object,
+            host_ticks_min=host_ticks_min,
+            host_ticks_max=host_ticks_max,
+        ):
+            batch = parse_msop_batch_payload(payload)
+            batch_count += 1
+            if session_id is None:
+                session_id = batch.session_id
+                lidar_ip = batch.lidar_ip
+            for item in batch.packets:
+                msop_packets.append(item.raw)
+                # Per-packet UTC host receive from MSOP DLog payload only.
+                # Do NOT fall back to DObject tic (DateTime.Now / local).
+                msop_host_utc_ticks.append(int(item.host_receive_utc_ticks))
 
-    if not msop_packets:
-        msop_records = discover_records(root, msop_object)
-        raise RuntimeError(
-            f"no MSOP packets from DObject {msop_object!r} under {root} "
-            f"(log records={len(msop_records)})"
-        )
-
-    if angles is None:
-        if require_difop:
+        if not msop_packets:
+            msop_records = discover_records_from_source(source, msop_object)
             raise RuntimeError(
-                f"no valid DIFOP calibration from DObject {difop_object!r} under {root}"
+                f"no MSOP packets from DObject {msop_object!r} under {source.label} "
+                f"(log records={len(msop_records)}, "
+                f"host_ticks=[{host_ticks_min}, {host_ticks_max}])"
             )
-        vertical = default_vertical_deg()
-        horizontal = default_horizontal_deg()
-        angle_source = "default_msop_only_vertical_-16_to_16_deg"
-    else:
-        vertical = angles.vertical_deg
-        horizontal = angles.horizontal_deg
-        angle_source = "difop_channel_angles"
 
-    return H32DlogLidarSession(
-        dlog_root=root,
-        msop_object=msop_object,
-        difop_object=difop_object,
-        msop_packets=msop_packets,
-        msop_batch_count=batch_count,
-        difop_record_count=difop_count,
-        angle_source=angle_source,
-        vertical_deg=vertical,
-        horizontal_deg=horizontal,
-        session_id=session_id,
-        lidar_ip=lidar_ip,
-    )
+        if angles is None:
+            if require_difop:
+                raise RuntimeError(
+                    f"no valid DIFOP calibration from DObject {difop_object!r} under {source.label}"
+                )
+            vertical = default_vertical_deg()
+            horizontal = default_horizontal_deg()
+            angle_source = "default_msop_only_vertical_-16_to_16_deg"
+        else:
+            vertical = angles.vertical_deg
+            horizontal = angles.horizontal_deg
+            angle_source = "difop_channel_angles"
+
+        return H32DlogLidarSession(
+            dlog_root=source.label,
+            msop_object=msop_object,
+            difop_object=difop_object,
+            msop_packets=msop_packets,
+            msop_host_utc_ticks=msop_host_utc_ticks,
+            msop_batch_count=batch_count,
+            difop_record_count=difop_count,
+            angle_source=angle_source,
+            vertical_deg=vertical,
+            horizontal_deg=horizontal,
+            session_id=session_id,
+            lidar_ip=lidar_ip,
+            host_ticks_min=host_ticks_min,
+            host_ticks_max=host_ticks_max,
+        )