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

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 / polar 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, Sequence
 
 import numpy as np
 
@@ -192,9 +193,10 @@ def _block_points_raw(
     return np.asarray(rows, dtype=np.float32)
 
 
-def iter_h32_frames_polar(
-    capture: CaptureFile,
+def iter_h32_frames_polar_from_packets(
+    packets: Iterable[bytes],
     *,
+    host_utc_ticks: Sequence[int] | None = None,
     min_frame_points: int = MIN_FRAME_POINTS_DEFAULT,
     frame_stride: int = 1,
     min_range_m: float = 0.3,
@@ -203,7 +205,7 @@ def iter_h32_frames_polar(
     vertical_deg: np.ndarray | None = None,
     horizontal_deg: np.ndarray | None = None,
 ) -> list[LidarFramePolarExport]:
-    """Assemble MSOP packets into polar frames for the RTK–LiDAR combined contract."""
+    """Assemble raw MSOP packets into polar frames for the combined contract."""
 
     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)
@@ -218,6 +220,7 @@ def iter_h32_frames_polar(
     prev_az: float | None = None
     kept = 0
     stride = max(1, int(frame_stride))
+    host_list = list(host_utc_ticks) if host_utc_ticks is not None else None
 
     def emit() -> None:
         nonlocal point_chunks, t_start, t_end, host_ns, kept
@@ -250,13 +253,15 @@ def iter_h32_frames_polar(
             )
         )
 
-    for chunk in capture.chunks:
-        packet = chunk.raw
+    for index, packet in enumerate(packets):
         if len(packet) != PACKET_LENGTH:
             continue
         packet_t = device_timestamp_ms(packet) * 1e-3
         unit = distance_unit_mm(packet)
-        chunk_host = ticks_to_unix_ns(chunk.receive_utc_ticks)
+        if host_list is not None and index < len(host_list):
+            chunk_host = ticks_to_unix_ns(int(host_list[index]))
+        else:
+            chunk_host = 0
         idx = DATA_START
         for _block in range(BLOCKS):
             if idx + BLOCK_LENGTH > PACKET_LENGTH or packet[idx] != 255 or packet[idx + 1] != 238:
@@ -287,6 +292,34 @@ def iter_h32_frames_polar(
     return frames
 
 
+def iter_h32_frames_polar(
+    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[LidarFramePolarExport]:
+    """Assemble MSOP packets from a V2 .rscap into polar frames."""
+
+    packets = [chunk.raw for chunk in capture.chunks]
+    host_ticks = [chunk.receive_utc_ticks for chunk in capture.chunks]
+    return iter_h32_frames_polar_from_packets(
+        packets,
+        host_utc_ticks=host_ticks,
+        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,
+    )
+
+
 def iter_h32_frames(
     capture: CaptureFile,
     *,