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支持 H32 DLogCapture（MSOP+DIFOP）站导出到 combined

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Co-authored-by: Cursor <cursoragent@cursor.com>
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lichun.qu
2026-08-05 10:17:23 +08:00
co-authored by Cursor
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commit 69bb44bccd
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tools/README.md
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| 文件 | 输入→输出 |
|---|---|
| **`export_raw_to_combined.py`** | **一步导出**：逐站 H32 + 全程 G90/N300 `.rscap` → `combined/`（标定直接入口，对标 Lidar-IMU `export_rscap_to_v1`） |
| **`export_raw_to_combined.py`** | **一步导出**：逐站 H32（dlog MSOP+DIFOP 或旧 `.rscap`）+ 全程 G90/N300 `.rscap` → `combined/` |
| `export_h32_rscap_station.py` | 内部零件：单站 H32 → 雷达帧 NPZ（一般不必单独跑） |
| `frontlidar_dlog_export.py` | **旧数据** LiDAR dlog → 逐帧 NPZ；由一步导出在遇到 dlog 站时自动调用 |
| `h32_dlog/` | 新 H32 DLogCapture：dobject 索引、MSOP/DIFOP payload、DIFOP 通道角 |
| `frontlidar_dlog_export.py` | **旧数据** 已解码点云 dlog → 逐帧 NPZ；无 raw MSOP 时由一步导出回退调用 |
| `rscap_v2/parse_rtk_imu_v2.py` | 单独解析 RTK/IMU（调试用）；一步导出已内嵌同等逻辑 |
| `rscap_v2/h32_msop.py` | H32 MSOP 解码（XYZ / 极坐标 `points_raw`） |
| `rscap_v2/n300_imu.py` | N300 FDILink 采样解码 |