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

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

README.md

@@ -6,7 +6,7 @@
 p_IMU = T_IMU_lidar · p_lidar
 ```
 
-**当前阶段：** 算法与合成自检已闭环；已提供 `tools/export_rscap_to_v1.py`（N300+H32 → 中间格式）；**合格实车验收尚未完成**，故正式外参尚未对实车落盘交付。
+**当前阶段：** 算法与合成自检已闭环；已提供 `tools/export_rscap_to_v1.py`（N300 `.rscap` + H32 dlog/MSOP → 中间格式）；**合格实车验收尚未完成**，故正式外参尚未对实车落盘交付。
 
 ---
 
@@ -16,7 +16,7 @@ p_IMU = T_IMU_lidar · p_lidar
 | 顺序  | 文档                                     | 用途                   |
 | --- | -------------------------------------- | -------------------- |
 | 1   | **本 README**                           | 做什么、怎么跑、结果怎么判        |
-| 2   | [docs/V1_数据格式.md](docs/V1_数据格式.md)     | 中间格式 + `.rscap` 导出命令 |
+| 2   | [docs/V1_数据格式.md](docs/V1_数据格式.md)     | 中间格式 + 原始数据导出命令 |
 | 3   | [docs/标定流程与采集清单.md](docs/标定流程与采集清单.md) | 现场怎么采（合格数据要求）        |
 
 
@@ -44,13 +44,14 @@ p_IMU = T_IMU_lidar · p_lidar
 | `summary.json`     | 状态、残差、可观性              |
 
 
-新车原始数据导出：
+新车原始数据导出（H32 dlog + N300 rscap）：
 
 ```powershell
 python tools\export_rscap_to_v1.py `
   --imu-rscap path\to\n300.rscap `
-  --lidar-rscap path\to\h32_msop.rscap `
+  --lidar-dlog path\to\session_or_dlog `
-  --out path\to\session_v1
+  --out path\to\session_v1 `
+  --require-difop
 ```
 
 ---

docs/IMU-LiDAR标定.md

@@ -178,7 +178,7 @@ python -m imu_lidar.cli run `
 | 合成数据 pytest / 一键复现 | 已实现（证明链路与已知 yaw/δt，不证明实车精度） |
 | 旧车主机时间烟测（S2） | 线下可跑；预期 `blocked`，不当交付 |
 | 设备时间新车数据正式验收 | **待做** |
-| 原生存储一键导出为中间格式 | 已提供 `tools/export_rscap_to_v1.py`（N300+H32 MSOP → V1；MSOP-only 用默认垂直角） |
+| 原生存储一键导出为中间格式 | 已提供 `tools/export_rscap_to_v1.py`（N300 rscap + H32 dlog/MSOP → V1；dlog 用 DIFOP 通道角） |
 
 细项见 [`imu_lidar/CHANGELOG.md`](../imu_lidar/CHANGELOG.md)。
 

docs/V1_数据格式.md

@@ -1,8 +1,25 @@
 # V1 标准中间数据格式
 
-**用途：** 标定程序读入的 CSV/NPZ 约定，以及新车 `.rscap` 如何导出。总览见根目录 [README](../README.md)。
+**用途：** 标定程序读入的 CSV/NPZ 约定，以及新车原始数据如何导出。总览见根目录 [README](../README.md)。
 
-## 从原始 `.rscap` 导出
+## 从原始数据导出
+
+**推荐（新 H32 插件 `RSLidarH32_3D_DLogCaptureNet48`）：** N300 `.rscap` + 雷达 Medulla dlog（含 raw MSOP / DIFOP）。
+
+```powershell
+python tools\export_rscap_to_v1.py `
+  --imu-rscap path\to\n300.rscap `
+  --lidar-dlog path\to\session_or_dlog `
+  --out path\to\session_v1 `
+  --frame-stride 1 `
+  --require-difop
+```
+
+`--lidar-dlog` 指向含 `dobject/` + `dobject_recording/` 的目录（或其上级含 `dlog/` 子目录亦可）。  
+默认 DObject：`frontlidar-msop-raw`、`frontlidar-difop-raw`（可用 `--msop-object` / `--difop-object` 覆盖）。  
+有 DIFOP 时用设备通道角做 XYZ；`--require-difop` 在缺少有效 DIFOP 时直接失败。
+
+**兼容旧 MSOP-only `.rscap`：**
 
 ```powershell
 python tools\export_rscap_to_v1.py `
@@ -13,7 +30,7 @@ python tools\export_rscap_to_v1.py `
 ```
 
 产出：`imu.csv`、`lidar/`（含 `frames_index.csv`）、`export_summary.json`。  
-时间轴为**设备时间**：N300 `device_timestamp_us`→秒；H32 MSOP `device_timestamp_ms`→秒。主机接收时间不写入标定主轴。
+时间轴为**设备时间**：N300 `device_timestamp_us`→秒；H32 MSOP 设备时间戳→秒。主机接收时间不写入标定主轴。
 
 ## IMU
 

imu_lidar/CHANGELOG.md

@@ -5,6 +5,20 @@
 
 ---
 
+## 2026-08-05 09:00 (UTC+8)
+
+### 导出：支持 H32 DLogCapture（MSOP+DIFOP）→ V1
+
+- **原本**：导出只读 H32 MSOP V2 `.rscap`，无 DIFOP，垂直角用默认 −16°…+16°。
+- **改成**：
+  - 新增 `tools/h32_dlog/`（dobject 索引、MSOP/DIFOP payload V1、DIFOP 通道角）。
+  - `export_rscap_to_v1.py` 增加 `--lidar-dlog`（与 `--lidar-rscap` 二选一）；默认用 DIFOP 角做 XYZ。
+  - `h32_msop.iter_h32_frames_from_packets` 供 dlog/rscap 共用拼帧。
+  - 单测 `tests/test_h32_dlog_export.py`；文档改为推荐 dlog 导出命令。
+- **标定核心**（`imu_lidar/` 读 V1）未改。
+
+---
+
 ## 2026-08-03 17:30 (UTC+8)
 
 ### 文档：精简对外阅读路径

imu_lidar/文件职责说明.md

@@ -69,7 +69,7 @@ lidar_session/
   frames/frame_XXXXX.npz        # points: (N,3) 米
 ```
 
-原始 `.rscap` 用仓库工具导出：`python tools/export_rscap_to_v1.py ...`（见 [`docs/V1_数据格式.md`](../docs/V1_数据格式.md)）。
+原始 N300 `.rscap` + H32 dlog（或旧 MSOP `.rscap`）用仓库工具导出：`python tools/export_rscap_to_v1.py ...`（见 [`docs/V1_数据格式.md`](../docs/V1_数据格式.md)）。
 
 ---
 

tests/test_h32_dlog_export.py

@@ -0,0 +1,198 @@
+"""Unit tests for H32 Medulla dlog → V1 export helpers."""
+
+from __future__ import annotations
+
+import struct
+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.load_session import load_h32_dlog_lidar
+from tools.h32_dlog.payload_v1 import (
+    MsopPacketItem,
+    build_difop_payload,
+    build_msop_batch_payload,
+    parse_difop_payload,
+    parse_msop_batch_payload,
+)
+from tools.rscap_v2.h32_msop import PACKET_LENGTH, iter_h32_frames_from_packets
+
+
+def _make_msop_packet(*, seconds: int = 100, microseconds: int = 5000, az_deg: float = 10.0) -> bytes:
+    packet = bytearray(PACKET_LENGTH)
+    packet[17] = 1
+    packet[20:26] = int(seconds).to_bytes(6, "big")
+    packet[26:30] = int(microseconds).to_bytes(4, "big")
+    az_raw = int(round(az_deg * 100))
+    for block in range(12):
+        offset = 42 + block * 100
+        packet[offset] = 255
+        packet[offset + 1] = 238
+        packet[offset + 2] = (az_raw >> 8) & 0xFF
+        packet[offset + 3] = az_raw & 0xFF
+        idx = offset + 4
+        for _ch in range(CHANNELS):
+            packet[idx] = (1600 >> 8) & 0xFF
+            packet[idx + 1] = 1600 & 0xFF
+            packet[idx + 2] = 10
+            idx += 3
+    return bytes(packet)
+
+
+def _write_signed_angle(buf: bytearray, index: int, degrees: float) -> None:
+    sign = 1 if degrees < 0 else 0
+    raw = int(round(abs(degrees) * 100))
+    buf[index] = sign
+    buf[index + 1] = (raw >> 8) & 0xFF
+    buf[index + 2] = raw & 0xFF
+
+
+def _make_difop_packet(*, vertical: list[float], horizontal: list[float] | None = None) -> bytes:
+    packet = bytearray(1248)
+    horiz = horizontal if horizontal is not None else [0.0] * CHANNELS
+    for channel, angle in enumerate(vertical):
+        _write_signed_angle(packet, VERTICAL_START + channel * 3, angle)
+    for channel, angle in enumerate(horiz):
+        _write_signed_angle(packet, HORIZONTAL_START + channel * 3, angle)
+    return bytes(packet)
+
+
+def _write_dorec_record(
+    path: Path,
+    *,
+    object_name: str,
+    ticks: int,
+    record_id: str,
+    payload: bytes,
+    offset: int = 0,
+) -> int:
+    """Append one DObject record; return file offset of the record start."""
+
+    path.parent.mkdir(parents=True, exist_ok=True)
+    name_b = object_name.encode("ascii")
+    id_b = record_id.encode("ascii")
+    blob = (
+        bytes([len(name_b)])
+        + name_b
+        + struct.pack("<q", ticks)
+        + bytes([len(id_b)])
+        + id_b
+        + struct.pack("<i", len(payload))
+        + payload
+    )
+    with path.open("ab" if path.exists() else "wb") as handle:
+        if offset:
+            handle.seek(offset)
+        start = handle.tell()
+        handle.write(blob)
+    return start
+
+
+def test_parse_msop_and_difop_payload_roundtrip():
+    packet = _make_msop_packet(seconds=1700000000, microseconds=123456)
+    item = MsopPacketItem(
+        sequence=7,
+        device_timestamp_us=1700000000 * 1_000_000 + 123456,
+        device_timestamp_valid=True,
+        host_receive_utc_ticks=111,
+        host_receive_monotonic_ticks=222,
+        raw=packet,
+    )
+    msop_payload = build_msop_batch_payload(packets=[item], session_id="sess-a")
+    batch = parse_msop_batch_payload(msop_payload)
+    assert batch.session_id == "sess-a"
+    assert len(batch.packets) == 1
+    assert batch.packets[0].sequence == 7
+    assert batch.packets[0].device_timestamp_us == item.device_timestamp_us
+    assert batch.packets[0].device_timestamp_valid is True
+    assert batch.packets[0].raw == packet
+
+    vertical = [-16.0 + i * (32.0 / 31) for i in range(CHANNELS)]
+    difop_raw = _make_difop_packet(vertical=vertical, horizontal=[0.05] * CHANNELS)
+    difop_payload = build_difop_payload(raw=difop_raw, sequence=3)
+    difop = parse_difop_payload(difop_payload)
+    assert difop.sequence == 3
+    angles = parse_difop_angles(difop.raw)
+    assert angles.vertical_deg.shape == (CHANNELS,)
+    assert np.allclose(angles.vertical_deg, vertical, atol=1e-2)
+    assert np.allclose(angles.horizontal_deg, 0.05, atol=1e-2)
+
+
+def test_difop_signed_angle_negative():
+    packet = _make_difop_packet(vertical=[-5.25] + [0.0] * 31)
+    angles = parse_difop_angles(packet)
+    assert abs(angles.vertical_deg[0] + 5.25) < 1e-9
+
+
+def test_load_h32_dlog_lidar_mini_session(tmp_path: Path):
+    dlog = tmp_path / "session" / "dlog"
+    dorec_name = "raw.dorec"
+    dorec_path = dlog / "dobject_recording" / dorec_name
+    log_path = dlog / "dobject" / "rec.log"
+
+    vertical = [-16.0 + i * (32.0 / 31) for i in range(CHANNELS)]
+    difop_payload = build_difop_payload(raw=_make_difop_packet(vertical=vertical), sequence=1)
+    msop_packet = _make_msop_packet(az_deg=15.0)
+    msop_payload = build_msop_batch_payload(
+        packets=[
+            MsopPacketItem(
+                sequence=1,
+                device_timestamp_us=100_000_000,
+                device_timestamp_valid=True,
+                host_receive_utc_ticks=1,
+                host_receive_monotonic_ticks=2,
+                raw=msop_packet,
+            )
+        ]
+    )
+
+    off_difop = _write_dorec_record(
+        dorec_path,
+        object_name="frontlidar-difop-raw",
+        ticks=1000,
+        record_id="AA",
+        payload=difop_payload,
+    )
+    off_msop = _write_dorec_record(
+        dorec_path,
+        object_name="frontlidar-msop-raw",
+        ticks=1001,
+        record_id="BB",
+        payload=msop_payload,
+    )
+
+    log_path.parent.mkdir(parents=True, exist_ok=True)
+    log_path.write_text(
+        "\n".join(
+            [
+                f"[t] DObject `frontlidar-difop-raw` post len={len(difop_payload)}B, "
+                f"id:AA, tic:1000, @{dorec_name}:{off_difop}",
+                f"[t] DObject `frontlidar-msop-raw` post len={len(msop_payload)}B, "
+                f"id:BB, tic:1001, @{dorec_name}:{off_msop}",
+            ]
+        )
+        + "\n",
+        encoding="utf-8",
+    )
+
+    root = resolve_dlog_root(tmp_path / "session")
+    assert root == dlog
+    assert len(discover_records(root, "frontlidar-msop-raw")) == 1
+    payloads = list(iter_payloads(root, "frontlidar-msop-raw"))
+    assert len(payloads) == 1
+
+    session = load_h32_dlog_lidar(tmp_path / "session", require_difop=True)
+    assert session.angle_source == "difop_channel_angles"
+    assert len(session.msop_packets) == 1
+    assert np.allclose(session.vertical_deg, vertical, atol=1e-2)
+
+    frames = iter_h32_frames_from_packets(
+        session.msop_packets,
+        min_frame_points=1,
+        vertical_deg=session.vertical_deg,
+        horizontal_deg=session.horizontal_deg,
+    )
+    assert len(frames) == 1
+    assert frames[0].points_xyz.shape[0] > 0

tools/export_rscap_to_v1.py

@@ -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_meta: dict
-        lidar_capture,
+    if lidar_dlog is not None:
-        min_frame_points=min_frame_points,
+        session = load_h32_dlog_lidar(
-        frame_stride=frame_stride,
+            lidar_dlog,
-        min_range_m=min_range_m,
+            msop_object=msop_object,
-        max_range_m=max_range_m,
+            difop_object=difop_object,
-        max_points_per_frame=max_points_per_frame,
+            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),
+            **lidar_meta,
-            "angle_source": "default_msop_only_vertical_-16_to_16_deg",
         },
         "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({
+    print(
-        "imu_samples": summary["imu"]["samples"],
+        json.dumps(
-        "lidar_frames": summary["lidar"]["frames"],
+            {
-        "imu_csv": summary["outputs"]["imu_csv"],
+                "imu_samples": summary["imu"]["samples"],
-        "lidar_session": summary["outputs"]["lidar_session"],
+                "lidar_frames": summary["lidar"]["frames"],
-        "export_summary": str(Path(args.out) / "export_summary.json"),
+                "lidar_source": summary["lidar"]["source"],
-    }, ensure_ascii=False, indent=2))
+                "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:

tools/h32_dlog/__init__.py

@@ -0,0 +1,14 @@
+"""Medulla dlog readers for RSLidarH32_3D_DLogCaptureNet48 raw MSOP/DIFOP."""
+
+from .difop import parse_difop_angles
+from .dobject import discover_records, iter_payloads, resolve_dlog_root
+from .payload_v1 import parse_difop_payload, parse_msop_batch_payload
+
+__all__ = [
+    "discover_records",
+    "iter_payloads",
+    "parse_difop_angles",
+    "parse_difop_payload",
+    "parse_msop_batch_payload",
+    "resolve_dlog_root",
+]

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)

tools/h32_dlog/dobject.py

@@ -0,0 +1,179 @@
+"""Index and read Medulla DObject recordings (dobject/ + dobject_recording/)."""
+
+from __future__ import annotations
+
+import re
+import struct
+from dataclasses import dataclass
+from pathlib import Path
+from typing import BinaryIO, Iterator
+
+
+RECORD_RE = re.compile(
+    r"^\[(?P<log_time>[^]]+)\].*?DObject `(?P<name>[^`]+)` post "
+    r"len=(?P<len>\d+)B, id:(?P<id>[0-9A-Fa-f]+), tic:(?P<tic>\d+), "
+    r"@(?P<file>[^:]+):(?P<offset>\d+)"
+)
+
+
+@dataclass(frozen=True)
+class RecordRef:
+    sequence: int
+    object_name: str
+    log_time: str
+    source_log: str
+    source_dorec: str
+    source_offset: int
+    payload_length: int
+    log_record_id: str
+    dotnet_ticks: int
+
+
+def resolve_dlog_root(value: Path | str) -> Path:
+    root = Path(value).expanduser().resolve()
+    if (root / "dobject").is_dir() and (root / "dobject_recording").is_dir():
+        return root
+    child = root / "dlog"
+    if (child / "dobject").is_dir() and (child / "dobject_recording").is_dir():
+        return child
+    raise FileNotFoundError(f"{root} does not contain dobject and dobject_recording")
+
+
+def discover_records(dlog_root: Path, object_name: str) -> list[RecordRef]:
+    pending: list[tuple[str, str, str, int, int, str, int, str]] = []
+    for log_path in sorted((dlog_root / "dobject").rglob("*.log")):
+        relative_log = log_path.relative_to(dlog_root).as_posix()
+        with log_path.open("r", encoding="utf-8", errors="replace") as stream:
+            for line in stream:
+                match = RECORD_RE.search(line)
+                if not match or match.group("name").casefold() != object_name.casefold():
+                    continue
+                pending.append(
+                    (
+                        match.group("name"),
+                        match.group("log_time"),
+                        relative_log,
+                        int(match.group("offset")),
+                        int(match.group("len")),
+                        match.group("id").upper(),
+                        int(match.group("tic")),
+                        match.group("file"),
+                    )
+                )
+    pending.sort(key=lambda item: (item[6], item[7].casefold(), item[3]))
+    seen: set[tuple[str, int, int]] = set()
+    records: list[RecordRef] = []
+    for item in pending:
+        key = (item[7].casefold(), item[3], item[6])
+        if key in seen:
+            continue
+        seen.add(key)
+        records.append(
+            RecordRef(
+                sequence=len(records),
+                object_name=item[0],
+                log_time=item[1],
+                source_log=item[2],
+                source_dorec=item[7],
+                source_offset=item[3],
+                payload_length=item[4],
+                log_record_id=item[5],
+                dotnet_ticks=item[6],
+            )
+        )
+    return records
+
+
+def index_dorec_files(dlog_root: Path) -> dict[str, list[Path]]:
+    result: dict[str, list[Path]] = {}
+    for path in (dlog_root / "dobject_recording").rglob("*.dorec"):
+        result.setdefault(path.name.casefold(), []).append(path)
+    return result
+
+
+def choose_dorec(index: dict[str, list[Path]], name: str) -> Path:
+    matches = index.get(Path(name).name.casefold(), [])
+    if not matches:
+        raise FileNotFoundError(f"missing recording file: {name}")
+    if len(matches) > 1:
+        raise RuntimeError(f"ambiguous recording file {name}: {matches}")
+    return matches[0]
+
+
+def read_exact(stream: BinaryIO, size: int) -> bytes:
+    data = stream.read(size)
+    if len(data) != size:
+        raise EOFError(f"expected {size} bytes, got {len(data)}")
+    return data
+
+
+def read_record_payload(path: Path, record: RecordRef) -> bytes:
+    with path.open("rb") as stream:
+        stream.seek(record.source_offset)
+        name_length = read_exact(stream, 1)[0]
+        name = read_exact(stream, name_length).decode("ascii")
+        ticks = struct.unpack("<q", read_exact(stream, 8))[0]
+        id_length = read_exact(stream, 1)[0]
+        id_bytes = read_exact(stream, id_length)
+        payload_length = struct.unpack("<i", read_exact(stream, 4))[0]
+        payload = read_exact(stream, payload_length)
+
+    try:
+        record_id = id_bytes.decode("ascii")
+    except UnicodeDecodeError:
+        record_id = id_bytes.hex().upper()
+    if name != record.object_name:
+        raise ValueError(f"name mismatch: log={record.object_name}, dorec={name}")
+    if ticks != record.dotnet_ticks:
+        raise ValueError(f"tick mismatch: log={record.dotnet_ticks}, dorec={ticks}")
+    if payload_length != record.payload_length:
+        raise ValueError(f"payload mismatch: log={record.payload_length}, dorec={payload_length}")
+    if record_id.upper() != record.log_record_id.upper():
+        raise ValueError(f"record id mismatch: log={record.log_record_id}, dorec={record_id}")
+    return payload
+
+
+def iter_payloads(dlog_root: Path, object_name: str) -> Iterator[tuple[RecordRef, bytes]]:
+    root = resolve_dlog_root(dlog_root)
+    records = discover_records(root, object_name)
+    if not records:
+        return
+    dorec_index = index_dorec_files(root)
+    open_files: dict[str, tuple[Path, BinaryIO]] = {}
+    try:
+        for record in records:
+            key = record.source_dorec.casefold()
+            handle = open_files.get(key)
+            if handle is None:
+                path = choose_dorec(dorec_index, record.source_dorec)
+                handle = (path, path.open("rb"))
+                open_files[key] = handle
+            path, stream = handle
+            stream.seek(record.source_offset)
+            name_length = read_exact(stream, 1)[0]
+            name = read_exact(stream, name_length).decode("ascii")
+            ticks = struct.unpack("<q", read_exact(stream, 8))[0]
+            id_length = read_exact(stream, 1)[0]
+            id_bytes = read_exact(stream, id_length)
+            payload_length = struct.unpack("<i", read_exact(stream, 4))[0]
+            payload = read_exact(stream, payload_length)
+            try:
+                record_id = id_bytes.decode("ascii")
+            except UnicodeDecodeError:
+                record_id = id_bytes.hex().upper()
+            if name != record.object_name:
+                raise ValueError(f"name mismatch: log={record.object_name}, dorec={name}")
+            if ticks != record.dotnet_ticks:
+                raise ValueError(f"tick mismatch: log={record.dotnet_ticks}, dorec={ticks}")
+            if payload_length != record.payload_length:
+                raise ValueError(
+                    f"payload mismatch: log={record.payload_length}, dorec={payload_length}"
+                )
+            if record_id.upper() != record.log_record_id.upper():
+                raise ValueError(
+                    f"record id mismatch: log={record.log_record_id}, dorec={record_id}"
+                )
+            yield record, payload
+    finally:
+        for _path, stream in open_files.values():
+            stream.close()

tools/h32_dlog/dotnet_bin.py

@@ -0,0 +1,69 @@
+"""Little-endian .NET BinaryReader/BinaryWriter helpers."""
+
+from __future__ import annotations
+
+import struct
+from typing import BinaryIO
+
+
+def read_7bit_int(stream: BinaryIO) -> int:
+    value = 0
+    shift = 0
+    while True:
+        raw = stream.read(1)
+        if not raw:
+            raise EOFError("truncated .NET 7-bit int")
+        value |= (raw[0] & 0x7F) << shift
+        if not raw[0] & 0x80:
+            return value
+        shift += 7
+        if shift > 35:
+            raise ValueError("invalid .NET 7-bit int")
+
+
+def write_7bit_int(stream: BinaryIO, value: int) -> None:
+    if value < 0:
+        raise ValueError("7-bit int must be non-negative")
+    while value >= 0x80:
+        stream.write(bytes([(value & 0x7F) | 0x80]))
+        value >>= 7
+    stream.write(bytes([value & 0x7F]))
+
+
+def read_dotnet_string(stream: BinaryIO) -> str:
+    length = read_7bit_int(stream)
+    raw = stream.read(length)
+    if len(raw) != length:
+        raise EOFError("truncated .NET string")
+    return raw.decode("utf-8")
+
+
+def write_dotnet_string(stream: BinaryIO, text: str) -> None:
+    raw = text.encode("utf-8")
+    write_7bit_int(stream, len(raw))
+    stream.write(raw)
+
+
+def read_i32(stream: BinaryIO) -> int:
+    raw = stream.read(4)
+    if len(raw) != 4:
+        raise EOFError("truncated int32")
+    return struct.unpack("<i", raw)[0]
+
+
+def read_i64(stream: BinaryIO) -> int:
+    raw = stream.read(8)
+    if len(raw) != 8:
+        raise EOFError("truncated int64")
+    return struct.unpack("<q", raw)[0]
+
+
+def read_bool(stream: BinaryIO) -> bool:
+    raw = stream.read(1)
+    if not raw:
+        raise EOFError("truncated bool")
+    return raw[0] != 0
+
+
+def write_bool(stream: BinaryIO, value: bool) -> None:
+    stream.write(b"\x01" if value else b"\x00")

tools/h32_dlog/load_session.py

@@ -0,0 +1,99 @@
+"""Load H32 MSOP packets and DIFOP angles from a Medulla dlog session."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from pathlib import Path
+
+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 .payload_v1 import parse_difop_payload, parse_msop_batch_payload
+
+
+@dataclass
+class H32DlogLidarSession:
+    dlog_root: Path
+    msop_object: str
+    difop_object: str
+    msop_packets: list[bytes]
+    msop_batch_count: int
+    difop_record_count: int
+    angle_source: str
+    vertical_deg: np.ndarray
+    horizontal_deg: np.ndarray
+    session_id: str | None = None
+    lidar_ip: str | None = None
+
+
+def load_h32_dlog_lidar(
+    dlog_root: Path | str,
+    *,
+    msop_object: str = "frontlidar-msop-raw",
+    difop_object: str = "frontlidar-difop-raw",
+    require_difop: bool = False,
+) -> H32DlogLidarSession:
+    root = resolve_dlog_root(dlog_root)
+    msop_packets: list[bytes] = []
+    batch_count = 0
+    session_id: str | None = None
+    lidar_ip: str | None = None
+
+    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)
+
+    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
+
+    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:
+            raise RuntimeError(
+                f"no valid DIFOP calibration from DObject {difop_object!r} under {root}"
+            )
+        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,
+    )

tools/h32_dlog/payload_v1.py

@@ -0,0 +1,204 @@
+"""Parse RSLidarH32_3D_DLogCaptureNet48 raw MSOP/DIFOP DObject payloads."""
+
+from __future__ import annotations
+
+import io
+import struct
+from dataclasses import dataclass
+
+from .dotnet_bin import read_bool, read_dotnet_string, read_i32, read_i64
+
+MSOP_MAGIC = "RSLIDAR_H32_MSOP_DLOG_V1"
+DIFOP_MAGIC = "RSLIDAR_H32_DIFOP_DLOG_V1"
+
+
+@dataclass(frozen=True)
+class MsopPacketItem:
+    sequence: int
+    device_timestamp_us: int
+    device_timestamp_valid: bool
+    host_receive_utc_ticks: int
+    host_receive_monotonic_ticks: int
+    raw: bytes
+
+
+@dataclass(frozen=True)
+class MsopBatch:
+    version: int
+    session_id: str
+    session_start_utc_ticks: int
+    session_start_monotonic_ticks: int
+    monotonic_frequency: int
+    lidar_ip: str
+    msop_port: int
+    packets: list[MsopPacketItem]
+
+
+@dataclass(frozen=True)
+class DifopRecord:
+    version: int
+    session_id: str
+    session_start_utc_ticks: int
+    session_start_monotonic_ticks: int
+    monotonic_frequency: int
+    lidar_ip: str
+    difop_port: int
+    sequence: int
+    host_receive_utc_ticks: int
+    host_receive_monotonic_ticks: int
+    raw: bytes
+
+
+def _read_bytes(stream: io.BytesIO, length: int) -> bytes:
+    if length < 0 or length > 64 * 1024 * 1024:
+        raise ValueError(f"invalid byte length: {length}")
+    raw = stream.read(length)
+    if len(raw) != length:
+        raise EOFError(f"expected {length} bytes, got {len(raw)}")
+    return raw
+
+
+def parse_msop_batch_payload(payload: bytes) -> MsopBatch:
+    stream = io.BytesIO(payload)
+    magic = read_dotnet_string(stream)
+    if magic != MSOP_MAGIC:
+        raise ValueError(f"unexpected MSOP payload magic: {magic!r}")
+    version = read_i32(stream)
+    session_id = read_dotnet_string(stream)
+    session_start_utc_ticks = read_i64(stream)
+    session_start_monotonic_ticks = read_i64(stream)
+    monotonic_frequency = read_i64(stream)
+    lidar_ip = read_dotnet_string(stream)
+    msop_port = read_i32(stream)
+    packet_count = read_i32(stream)
+    if packet_count < 0 or packet_count > 100_000:
+        raise ValueError(f"invalid MSOP packet count: {packet_count}")
+    packets: list[MsopPacketItem] = []
+    for _ in range(packet_count):
+        packets.append(
+            MsopPacketItem(
+                sequence=read_i64(stream),
+                device_timestamp_us=read_i64(stream),
+                device_timestamp_valid=read_bool(stream),
+                host_receive_utc_ticks=read_i64(stream),
+                host_receive_monotonic_ticks=read_i64(stream),
+                raw=_read_bytes(stream, read_i32(stream)),
+            )
+        )
+    return MsopBatch(
+        version=version,
+        session_id=session_id,
+        session_start_utc_ticks=session_start_utc_ticks,
+        session_start_monotonic_ticks=session_start_monotonic_ticks,
+        monotonic_frequency=monotonic_frequency,
+        lidar_ip=lidar_ip,
+        msop_port=msop_port,
+        packets=packets,
+    )
+
+
+def parse_difop_payload(payload: bytes) -> DifopRecord:
+    stream = io.BytesIO(payload)
+    magic = read_dotnet_string(stream)
+    if magic != DIFOP_MAGIC:
+        raise ValueError(f"unexpected DIFOP payload magic: {magic!r}")
+    version = read_i32(stream)
+    session_id = read_dotnet_string(stream)
+    session_start_utc_ticks = read_i64(stream)
+    session_start_monotonic_ticks = read_i64(stream)
+    monotonic_frequency = read_i64(stream)
+    lidar_ip = read_dotnet_string(stream)
+    difop_port = read_i32(stream)
+    sequence = read_i64(stream)
+    host_receive_utc_ticks = read_i64(stream)
+    host_receive_monotonic_ticks = read_i64(stream)
+    raw = _read_bytes(stream, read_i32(stream))
+    return DifopRecord(
+        version=version,
+        session_id=session_id,
+        session_start_utc_ticks=session_start_utc_ticks,
+        session_start_monotonic_ticks=session_start_monotonic_ticks,
+        monotonic_frequency=monotonic_frequency,
+        lidar_ip=lidar_ip,
+        difop_port=difop_port,
+        sequence=sequence,
+        host_receive_utc_ticks=host_receive_utc_ticks,
+        host_receive_monotonic_ticks=host_receive_monotonic_ticks,
+        raw=raw,
+    )
+
+
+def build_msop_batch_payload(
+    *,
+    version: int = 1,
+    session_id: str = "test",
+    session_start_utc_ticks: int = 0,
+    session_start_monotonic_ticks: int = 0,
+    monotonic_frequency: int = 10_000_000,
+    lidar_ip: str = "192.168.1.200",
+    msop_port: int = 6699,
+    packets: list[MsopPacketItem],
+) -> bytes:
+    """Test helper: write an MSOP batch matching the C# BinaryWriter layout."""
+
+    from .dotnet_bin import write_bool, write_dotnet_string
+
+    stream = io.BytesIO()
+    write_dotnet_string(stream, MSOP_MAGIC)
+    stream.write(struct.pack("<i", version))
+    write_dotnet_string(stream, session_id)
+    stream.write(struct.pack("<qqq", session_start_utc_ticks, session_start_monotonic_ticks, monotonic_frequency))
+    write_dotnet_string(stream, lidar_ip)
+    stream.write(struct.pack("<i", msop_port))
+    stream.write(struct.pack("<i", len(packets)))
+    for item in packets:
+        stream.write(struct.pack("<qq", item.sequence, item.device_timestamp_us))
+        write_bool(stream, item.device_timestamp_valid)
+        stream.write(
+            struct.pack(
+                "<qqi",
+                item.host_receive_utc_ticks,
+                item.host_receive_monotonic_ticks,
+                len(item.raw),
+            )
+        )
+        stream.write(item.raw)
+    return stream.getvalue()
+
+
+def build_difop_payload(
+    *,
+    version: int = 1,
+    session_id: str = "test",
+    session_start_utc_ticks: int = 0,
+    session_start_monotonic_ticks: int = 0,
+    monotonic_frequency: int = 10_000_000,
+    lidar_ip: str = "192.168.1.200",
+    difop_port: int = 7788,
+    sequence: int = 1,
+    host_receive_utc_ticks: int = 0,
+    host_receive_monotonic_ticks: int = 0,
+    raw: bytes,
+) -> bytes:
+    """Test helper: write a DIFOP record matching the C# BinaryWriter layout."""
+
+    from .dotnet_bin import write_dotnet_string
+
+    stream = io.BytesIO()
+    write_dotnet_string(stream, DIFOP_MAGIC)
+    stream.write(struct.pack("<i", version))
+    write_dotnet_string(stream, session_id)
+    stream.write(struct.pack("<qqq", session_start_utc_ticks, session_start_monotonic_ticks, monotonic_frequency))
+    write_dotnet_string(stream, lidar_ip)
+    stream.write(struct.pack("<i", difop_port))
+    stream.write(
+        struct.pack(
+            "<qqqi",
+            sequence,
+            host_receive_utc_ticks,
+            host_receive_monotonic_ticks,
+            len(raw),
+        )
+    )
+    stream.write(raw)
+    return stream.getvalue()

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
+When DIFOP is unavailable, vertical angles default to a uniform -16°…+16° fan
--16°…+16° fan, horizontal channel offsets default to 0.
+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(
+def iter_h32_frames_from_packets(
-    capture: CaptureFile,
+    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:
+    for packet in packets:
-        packet = chunk.raw
         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,
+    )