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

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

tools/rscap_v2/h32_msop.py

@@ -1,6 +1,6 @@
-"""Decode RoboSense H32 MSOP V2 .rscap into Cartesian frames (metres).
+"""Decode RoboSense H32 MSOP packets into Cartesian frames (metres).
 
-Angle / distance conventions follow ``RSLidarH32_3D_RawCaptureNet48``:
+Angle / distance conventions follow the H32 Medulla plugins:
 azimuth = normalize(-(block_az + horizontal[ch])), altitude = vertical[ch],
 distance_mm = raw * distance_unit_mm, then:
 
@@ -8,13 +8,14 @@ distance_mm = raw * distance_unit_mm, then:
     y = d_m * cos(alt) * sin(az)
     z = d_m * sin(alt)
 
-MSOP-only captures do not include DIFOP; vertical angles default to a uniform
--16°…+16° fan, horizontal channel offsets default to 0.
+When DIFOP is unavailable, vertical angles default to a uniform -16°…+16° fan
+and horizontal channel offsets default to 0.
 """
 
 from __future__ import annotations
 
 from dataclasses import dataclass
+from typing import Iterable
 
 import numpy as np
 
@@ -140,8 +141,8 @@ def _block_points(
     return np.column_stack([xs, ys, zs]).astype(np.float64, copy=False)
 
 
-def iter_h32_frames(
-    capture: CaptureFile,
+def iter_h32_frames_from_packets(
+    packets: Iterable[bytes],
     *,
     min_frame_points: int = MIN_FRAME_POINTS_DEFAULT,
     frame_stride: int = 1,
@@ -151,7 +152,7 @@ def iter_h32_frames(
     vertical_deg: np.ndarray | None = None,
     horizontal_deg: np.ndarray | None = None,
 ) -> list[LidarFrameExport]:
-    """Assemble MSOP packets into frames using the 270°→90° azimuth wrap."""
+    """Assemble raw MSOP packets into frames using the 270°→90° azimuth wrap."""
 
     vertical = default_vertical_deg() if vertical_deg is None else np.asarray(vertical_deg, dtype=np.float64)
     horizontal = default_horizontal_deg() if horizontal_deg is None else np.asarray(horizontal_deg, dtype=np.float64)
@@ -189,8 +190,7 @@ def iter_h32_frames(
             end_s = start_s + 0.1
         frames.append(LidarFrameExport(t_start_s=start_s, t_end_s=end_s, points_xyz=points))
 
-    for chunk in capture.chunks:
-        packet = chunk.raw
+    for packet in packets:
         if len(packet) != PACKET_LENGTH:
             continue
         packet_t = device_timestamp_ms(packet) * 1e-3
@@ -222,3 +222,28 @@ def iter_h32_frames(
 
     emit()
     return frames
+
+
+def iter_h32_frames(
+    capture: CaptureFile,
+    *,
+    min_frame_points: int = MIN_FRAME_POINTS_DEFAULT,
+    frame_stride: int = 1,
+    min_range_m: float = 0.3,
+    max_range_m: float = 120.0,
+    max_points_per_frame: int | None = None,
+    vertical_deg: np.ndarray | None = None,
+    horizontal_deg: np.ndarray | None = None,
+) -> list[LidarFrameExport]:
+    """Assemble MSOP packets from a V2 .rscap capture into frames."""
+
+    return iter_h32_frames_from_packets(
+        (chunk.raw for chunk in capture.chunks),
+        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=vertical_deg,
+        horizontal_deg=horizontal_deg,
+    )