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支持 H32 DLogCapture（MSOP+DIFOP）导出到 V1 中间格式

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Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
lichun.qu
2026-08-05 08:58:31 +08:00
co-authored by Cursor
parent 4ff176d184
commit 30f7e66db3
14 changed files with 993 additions and 43 deletions
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tools/export_rscap_to_v1.py
+114 -24
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@@ -1,5 +1,11 @@
#!/usr/bin/env python3
"""Export N300 IMU + H32 MSOP V2 .rscap files to Lidar-IMU V1 intermediate format.
"""Export N300 IMU + H32 LiDAR captures to Lidar-IMU V1 intermediate format.
Supported LiDAR sources (exactly one required):
- ``--lidar-dlog``: Medulla dlog from ``RSLidarH32_3D_DLogCaptureNet48``
(raw MSOP + DIFOP DObjects; preferred for new recordings)
- ``--lidar-rscap``: legacy H32 MSOP V2 ``.rscap`` (MSOP-only defaults for angles)
Output layout under --out:
@@ -27,8 +33,9 @@ ROOT = Path(__file__).resolve().parents[1]
if str(ROOT) not in sys.path:
sys.path.insert(0, str(ROOT))
from tools.h32_dlog.load_session import load_h32_dlog_lidar
from tools.rscap_v2.capture_format_v2 import file_summary, read_capture
from tools.rscap_v2.h32_msop import iter_h32_frames
from tools.rscap_v2.h32_msop import iter_h32_frames, iter_h32_frames_from_packets
from tools.rscap_v2.n300_imu import iter_n300_imu_samples, samples_to_arrays
@@ -84,41 +91,88 @@ def write_lidar_session(root: Path, frames) -> dict:
def export_session(
*,
imu_rscap: Path,
lidar_rscap: Path,
out: Path,
lidar_rscap: Path | None = None,
lidar_dlog: Path | None = None,
msop_object: str = "frontlidar-msop-raw",
difop_object: str = "frontlidar-difop-raw",
require_difop: bool = False,
frame_stride: int = 1,
max_points_per_frame: int | None = 80000,
min_range_m: float = 0.3,
max_range_m: float = 120.0,
min_frame_points: int = 100,
) -> dict:
if (lidar_rscap is None) == (lidar_dlog is None):
raise ValueError("provide exactly one of lidar_rscap or lidar_dlog")
out.mkdir(parents=True, exist_ok=True)
imu_capture = read_capture(imu_rscap)
lidar_capture = read_capture(lidar_rscap)
samples = iter_n300_imu_samples(imu_capture)
t, gyro, accel = samples_to_arrays(samples)
imu_csv = out / "imu.csv"
write_imu_csv(imu_csv, t, gyro, accel)
frames = iter_h32_frames(
lidar_capture,
min_frame_points=min_frame_points,
frame_stride=frame_stride,
min_range_m=min_range_m,
max_range_m=max_range_m,
max_points_per_frame=max_points_per_frame,
)
lidar_meta: dict
if lidar_dlog is not None:
session = load_h32_dlog_lidar(
lidar_dlog,
msop_object=msop_object,
difop_object=difop_object,
require_difop=require_difop,
)
frames = iter_h32_frames_from_packets(
session.msop_packets,
min_frame_points=min_frame_points,
frame_stride=frame_stride,
min_range_m=min_range_m,
max_range_m=max_range_m,
max_points_per_frame=max_points_per_frame,
vertical_deg=session.vertical_deg,
horizontal_deg=session.horizontal_deg,
)
lidar_meta = {
"source": "dlog",
"lidar_dlog": str(session.dlog_root),
"msop_object": session.msop_object,
"difop_object": session.difop_object,
"msop_packets": len(session.msop_packets),
"msop_batches": session.msop_batch_count,
"difop_records": session.difop_record_count,
"session_id": session.session_id,
"lidar_ip": session.lidar_ip,
"angle_source": session.angle_source,
"timestamp_note": "h32_msop_device_timestamp -> seconds (from MSOP bytes)",
}
else:
assert lidar_rscap is not None
lidar_capture = read_capture(lidar_rscap)
frames = iter_h32_frames(
lidar_capture,
min_frame_points=min_frame_points,
frame_stride=frame_stride,
min_range_m=min_range_m,
max_range_m=max_range_m,
max_points_per_frame=max_points_per_frame,
)
lidar_meta = {
"source": "rscap_v2",
"lidar_rscap": str(lidar_rscap),
"capture": file_summary(lidar_capture),
"angle_source": "default_msop_only_vertical_-16_to_16_deg",
"timestamp_note": "h32_msop_device_timestamp_ms -> seconds",
}
lidar_dir = out / "lidar"
lidar_stats = write_lidar_session(lidar_dir, frames)
summary = {
"imu_rscap": str(imu_rscap),
"lidar_rscap": str(lidar_rscap),
"out": str(out),
"timestamp_policy": {
"imu": "n300_device_timestamp_us -> seconds",
"lidar": "h32_msop_device_timestamp_ms -> seconds (t_start/t_end per frame)",
"lidar": lidar_meta["timestamp_note"],
"host_utc": "not used as calibration timeline",
},
"imu": {
@@ -131,8 +185,7 @@ def export_session(
**lidar_stats,
"frame_stride": int(frame_stride),
"max_points_per_frame": max_points_per_frame,
"capture": file_summary(lidar_capture),
"angle_source": "default_msop_only_vertical_-16_to_16_deg",
**lidar_meta,
},
"outputs": {
"imu_csv": str(imu_csv),
@@ -149,7 +202,32 @@ def export_session(
def main() -> int:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument("--imu-rscap", type=Path, required=True, help="N300 V2 .rscap")
parser.add_argument("--lidar-rscap", type=Path, required=True, help="H32 MSOP V2 .rscap")
lidar = parser.add_mutually_exclusive_group(required=True)
lidar.add_argument(
"--lidar-dlog",
type=Path,
help="H32 Medulla dlog root (dobject/ + dobject_recording/), preferred",
)
lidar.add_argument(
"--lidar-rscap",
type=Path,
help="Legacy H32 MSOP V2 .rscap (no DIFOP; default vertical angles)",
)
parser.add_argument(
"--msop-object",
default="frontlidar-msop-raw",
help="DObject name for raw MSOP batches (dlog path)",
)
parser.add_argument(
"--difop-object",
default="frontlidar-difop-raw",
help="DObject name for raw DIFOP packets (dlog path)",
)
parser.add_argument(
"--require-difop",
action="store_true",
help="Fail if dlog has no valid DIFOP channel angles",
)
parser.add_argument("--out", type=Path, required=True, help="Output session directory")
parser.add_argument("--frame-stride", type=int, default=1, help="Keep every N-th LiDAR frame")
parser.add_argument(
@@ -166,6 +244,10 @@ def main() -> int:
summary = export_session(
imu_rscap=args.imu_rscap,
lidar_rscap=args.lidar_rscap,
lidar_dlog=args.lidar_dlog,
msop_object=args.msop_object,
difop_object=args.difop_object,
require_difop=args.require_difop,
out=args.out,
frame_stride=args.frame_stride,
max_points_per_frame=max_points,
@@ -173,13 +255,21 @@ def main() -> int:
max_range_m=args.max_range_m,
min_frame_points=args.min_frame_points,
)
print(json.dumps({
"imu_samples": summary["imu"]["samples"],
"lidar_frames": summary["lidar"]["frames"],
"imu_csv": summary["outputs"]["imu_csv"],
"lidar_session": summary["outputs"]["lidar_session"],
"export_summary": str(Path(args.out) / "export_summary.json"),
}, ensure_ascii=False, indent=2))
print(
json.dumps(
{
"imu_samples": summary["imu"]["samples"],
"lidar_frames": summary["lidar"]["frames"],
"lidar_source": summary["lidar"]["source"],
"angle_source": summary["lidar"]["angle_source"],
"imu_csv": summary["outputs"]["imu_csv"],
"lidar_session": summary["outputs"]["lidar_session"],
"export_summary": str(Path(args.out) / "export_summary.json"),
},
ensure_ascii=False,
indent=2,
)
)
if summary["imu"]["samples"] == 0:
raise SystemExit("no valid N300 IMU samples decoded")
if summary["lidar"]["frames"] == 0: