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

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

tools/h32_dlog/difop.py

@@ -0,0 +1,40 @@
+"""Parse RoboSense H32 DIFOP channel calibration angles."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+
+import numpy as np
+
+CHANNELS = 32
+VERTICAL_START = 468
+HORIZONTAL_START = 564
+
+
+@dataclass(frozen=True)
+class DifopAngles:
+    vertical_deg: np.ndarray  # (32,)
+    horizontal_deg: np.ndarray  # (32,)
+
+
+def _read_u16_be(packet: bytes, index: int) -> int:
+    return (packet[index] << 8) | packet[index + 1]
+
+
+def signed_angle_deg(packet: bytes, index: int) -> float:
+    """Match RSLidarH32 plugin SignedAngle: sign byte + BE u16 * 0.01 deg."""
+
+    sign = -1.0 if packet[index] > 0 else 1.0
+    return sign * _read_u16_be(packet, index + 1) * 0.01
+
+
+def parse_difop_angles(packet: bytes) -> DifopAngles:
+    needed = HORIZONTAL_START + CHANNELS * 3
+    if len(packet) < needed:
+        raise ValueError(f"DIFOP packet too short: {len(packet)} < {needed}")
+    vertical = np.empty(CHANNELS, dtype=np.float64)
+    horizontal = np.empty(CHANNELS, dtype=np.float64)
+    for channel in range(CHANNELS):
+        vertical[channel] = signed_angle_deg(packet, VERTICAL_START + channel * 3)
+        horizontal[channel] = signed_angle_deg(packet, HORIZONTAL_START + channel * 3)
+    return DifopAngles(vertical_deg=vertical, horizontal_deg=horizontal)