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

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

README.md

@@ -50,20 +50,23 @@ X = T_RTK_lidar
 
 ## 3. 原始数据目录
 
-大体积数据不提交Git。**新车默认布局**（H32 / G90 / N300 新插件，不再出 dlog）：
+大体积数据不提交Git。**新车默认布局**（H32 用 `RSLidarH32_3D_DLogCaptureNet48`；G90/N300 仍为 `.rscap`）：
 
 ```text
 raw_dataset/
-├── stations/                 # 每站停稳后单独录一段雷达
+├── stations/                 # 每站停稳后单独录一段雷达 dlog
-│   ├── 001/h32.rscap
+│   ├── 001/                  # dobject/ + dobject_recording/
-│   ├── 002/h32.rscap
+│   │   ├── dobject/          # 含 frontlidar-msop-raw / frontlidar-difop-raw
+│   │   └── dobject_recording/
+│   ├── 002/
 │   └── ...
 └── captures/
     ├── rtk.rscap             # 进场到收工连续录（G90：#PVTSLNA + #UNIHEADINGA）
     └── imu.rscap             # 连续录（N300；仅关联，不参与外参求解）
 ```
 
-一键导出默认：雷达用 **MSOP 设备时间**，RTK 用 **GNSS week/TOW** 做最近邻关联（`-TimeBasis device_gnss`）。旧 dlog 数据集可继续放在同结构的 `dobject/` + `dobject_recording/` 下，并用 `-TimeBasis host`。
+一键导出默认：雷达用 **MSOP 设备时间** + DIFOP 通道角，RTK 用 **GNSS week/TOW** 做最近邻关联（`-TimeBasis device_gnss`）。  
+仍兼容旧站 `h32.rscap`；旧「已解码点云」dlog 需用 `-TimeBasis host`。
 
 每个站点应在车辆完全静止后记录点云；建议不少于30站，并包含充足的直行、左转、右转和大角度转向姿态变化。
 
@@ -79,7 +82,7 @@ python -m pip install -r requirements.txt
 
 ## 5. 从原始数据一键复现
 
-导出与 Lidar-IMU 的 `export_rscap_to_v1` 同级：**一条命令**把原始 rscap 变成标定可直接使用的 `combined/`。
+导出与 Lidar-IMU 的 `export_rscap_to_v1` 同级：**一条命令**把原始 H32 dlog + G90/N300 rscap 变成标定可直接使用的 `combined/`。
 
 仅导出中间包：
 

data/README.md

@@ -1,12 +1,12 @@
 # 数据说明
 
-原始 H32/G90/N300 `.rscap`（以及旧版 LiDAR dlog）、逐帧 NPZ 和 prepared 点云体积较大，不进入 Git。请从项目云盘取得数据，并按根 README 中的目录示例放置；实际路径通过命令参数传入。
+原始 H32 dlog / G90·N300 `.rscap`（以及旧版 LiDAR dlog / `h32.rscap`）、逐帧 NPZ 和 prepared 点云体积较大，不进入 Git。请从项目云盘取得数据，并按根 README 中的目录示例放置；实际路径通过命令参数传入。
 
 推荐原始布局：
 
 ```text
 raw_dataset/
-├── stations/<站号>/h32.rscap
+├── stations/<站号>/          # dobject/ + dobject_recording/（MSOP+DIFOP）
 └── captures/rtk.rscap, imu.rscap
 ```
 

run/README.md

@@ -20,8 +20,9 @@ python tools\export_raw_to_combined.py --stations-root ... --rtk-rscap ... --imu
 
 常用参数：
 
-- `-LidarCaptureName h32.rscap`：每站雷达文件名（也接受 `lidar.rscap`）
+- 新车站目录为 H32 raw dlog（自动识别 `frontlidar-msop-raw` / `frontlidar-difop-raw`）
-- `-TimeBasis device_gnss`（默认）：雷达设备时 ↔ GNSS week/TOW
+- `-LidarCaptureName h32.rscap`：仅旧站 `.rscap` 文件名（也接受 `lidar.rscap`）
-- `-TimeBasis host`：旧 dlog + 主机接收时间关联
+- `-TimeBasis device_gnss`（默认）：雷达设备时 ↔ GNSS week/TOW（新 dlog / rscap）
+- `-TimeBasis host`：旧「已解码点云」dlog + 主机接收时间关联
 
 所有路径均为命令行参数。标定入口要求显式传入RTK/GGA参考点离地高度，避免静默使用与实车不符的默认值；默认生成目录`work/`和`outputs/`不会提交Git。

tests/test_h32_dlog_export.py

@@ -0,0 +1,190 @@
+"""Unit tests for H32 Medulla raw dlog → station frame export helpers."""
+
+from __future__ import annotations
+
+import struct
+import sys
+from pathlib import Path
+
+import numpy as np
+
+ROOT = Path(__file__).resolve().parents[1]
+TOOLS = ROOT / "tools"
+sys.path.insert(0, str(TOOLS))
+sys.path.insert(0, str(TOOLS / "rscap_v2"))
+
+from export_h32_rscap_station import export_station_h32_dlog, is_h32_raw_dlog_station  # noqa: E402
+from h32_dlog.difop import CHANNELS, HORIZONTAL_START, VERTICAL_START, parse_difop_angles  # noqa: E402
+from h32_dlog.dobject import discover_records, iter_payloads, resolve_dlog_root  # noqa: E402
+from h32_dlog.load_session import load_h32_dlog_lidar  # noqa: E402
+from h32_dlog.payload_v1 import (  # noqa: E402
+    MsopPacketItem,
+    build_difop_payload,
+    build_msop_batch_payload,
+    parse_difop_payload,
+    parse_msop_batch_payload,
+)
+from h32_msop import PACKET_LENGTH, iter_h32_frames_polar_from_packets  # noqa: E402
+
+
+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,
+) -> int:
+    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:
+        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].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 = parse_difop_payload(build_difop_payload(raw=difop_raw, sequence=3))
+    angles = parse_difop_angles(difop.raw)
+    assert np.allclose(angles.vertical_deg, vertical, atol=1e-2)
+    assert np.allclose(angles.horizontal_deg, 0.05, atol=1e-2)
+
+
+def test_export_station_h32_dlog_mini(tmp_path: Path):
+    station = tmp_path / "001"
+    dorec_name = "raw.dorec"
+    dorec_path = station / "dobject_recording" / dorec_name
+    log_path = station / "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=621355968000000000 + 10_000_000,
+                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",
+    )
+
+    assert resolve_dlog_root(station) == station.resolve()
+    assert is_h32_raw_dlog_station(station)
+    assert len(discover_records(station, "frontlidar-msop-raw")) == 1
+    assert len(list(iter_payloads(station, "frontlidar-msop-raw"))) == 1
+
+    session = load_h32_dlog_lidar(station, require_difop=True)
+    assert session.angle_source == "difop_channel_angles"
+    frames = iter_h32_frames_polar_from_packets(
+        session.msop_packets,
+        host_utc_ticks=session.msop_host_utc_ticks,
+        min_frame_points=1,
+        vertical_deg=session.vertical_deg,
+        horizontal_deg=session.horizontal_deg,
+    )
+    assert len(frames) == 1
+    assert frames[0].points_raw.shape[1] == 5
+
+    out = tmp_path / "export"
+    meta = export_station_h32_dlog(station, out, require_difop=True, min_frame_points=1)
+    assert meta["kind"] == "h32_dlog_raw"
+    assert meta["angle_source"] == "difop_channel_angles"
+    assert meta["frames_written"] >= 1
+    assert any((out / "frames").glob("*.npz"))

tools/README.md

@@ -2,9 +2,10 @@
 
 | 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 |

tools/export_h32_rscap_station.py

@@ -1,5 +1,10 @@
 #!/usr/bin/env python3
-"""Export one static-station H32 V2 .rscap into LiDAR frame NPZs.
+"""Export one static-station H32 capture into LiDAR frame NPZs.
+
+Supports:
+
+- V2 ``.rscap`` (legacy MSOP-only RawCapture)
+- Medulla dlog from ``RSLidarH32_3D_DLogCaptureNet48`` (raw MSOP + DIFOP)
 
 This is an **internal** helper used by ``export_raw_to_combined.py``.
 For RTK–LiDAR calibration, prefer the one-shot exporter that writes ``combined/``.
@@ -10,7 +15,7 @@ Output frame contract (consumed by ``build_multisensor_npz.py``):
 - ``unix_time_ns``: H32 MSOP device timestamp (seconds+us → ns)
 - ``frame_counter``, ``point_count``, optional host receive stamp
 
-Raw ``.rscap`` files are never modified.
+Raw ``.rscap`` / dlog files are never modified.
 """
 
 from __future__ import annotations
@@ -25,10 +30,16 @@ from typing import Any
 import numpy as np
 
 ROOT = Path(__file__).resolve().parent
+sys.path.insert(0, str(ROOT))
 sys.path.insert(0, str(ROOT / "rscap_v2"))
 
 from capture_format_v2 import file_summary, read_capture  # noqa: E402
-from h32_msop import iter_h32_frames_polar  # noqa: E402
+from h32_dlog.dobject import discover_records, resolve_dlog_root  # noqa: E402
+from h32_dlog.load_session import load_h32_dlog_lidar  # noqa: E402
+from h32_msop import (  # noqa: E402
+    iter_h32_frames_polar,
+    iter_h32_frames_polar_from_packets,
+)
 
 
 def resolve_lidar_rscap(station_dir: Path, capture_name: str = "h32.rscap") -> Path:
@@ -45,36 +56,47 @@ def resolve_lidar_rscap(station_dir: Path, capture_name: str = "h32.rscap") -> P
     )
 
 
-def export_station_h32(
+def try_resolve_dlog_root(station_dir: Path) -> Path | None:
-    station: Path,
+    try:
-    out: Path,
+        return resolve_dlog_root(station_dir)
-    *,
+    except FileNotFoundError:
-    capture_name: str = "h32.rscap",
+        return None
-    stride: int = 1,
-    min_frame_points: int = 100,
-    min_range_m: float = 0.3,
-    max_range_m: float = 120.0,
-    compress: bool = True,
-    write_reports: bool = False,
-    resume: bool = False,
-) -> dict[str, Any]:
-    """Decode one station H32 capture into ``out/frames/*.npz``. Returns metadata."""
 
-    rscap = station if station.is_file() and station.suffix.lower() == ".rscap" else resolve_lidar_rscap(station, capture_name)
+
+def is_h32_raw_dlog_station(
+    station_dir: Path,
+    *,
+    msop_object: str = "frontlidar-msop-raw",
+) -> bool:
+    root = try_resolve_dlog_root(station_dir)
+    if root is None:
+        return False
+    return len(discover_records(root, msop_object)) > 0
+
+
+def is_legacy_pointcloud_dlog_station(
+    station_dir: Path,
+    *,
+    msop_object: str = "frontlidar-msop-raw",
+) -> bool:
+    root = try_resolve_dlog_root(station_dir)
+    if root is None:
+        return False
+    return not is_h32_raw_dlog_station(station_dir, msop_object=msop_object)
+
+
+def _write_polar_frames(
+    *,
+    out: Path,
+    frames,
+    source_label: str,
+    compress: bool,
+    write_reports: bool,
+    resume: bool,
+    metadata_extra: dict[str, Any],
+) -> dict[str, Any]:
     frames_dir = out / "frames"
     frames_dir.mkdir(parents=True, exist_ok=True)
-
-    capture = read_capture(rscap)
-    frames = iter_h32_frames_polar(
-        capture,
-        min_frame_points=min_frame_points,
-        frame_stride=max(1, stride),
-        min_range_m=min_range_m,
-        max_range_m=max_range_m,
-    )
-    if not frames:
-        raise RuntimeError(f"no H32 frames decoded from {rscap}")
-
     saver = np.savez_compressed if compress else np.savez
     manifest_rows: list[dict[str, Any]] = []
     written = 0
@@ -93,7 +115,7 @@ def export_station_h32(
             "device_time_s": np.asarray([frame.t_start_s], dtype=np.float64),
             "device_time_end_s": np.asarray([frame.t_end_s], dtype=np.float64),
             "host_receive_utc_ns": np.asarray([frame.host_receive_utc_ns], dtype=np.int64),
-            "source_file_utf8": np.frombuffer(str(rscap.resolve()).encode("utf-8"), dtype=np.uint8),
+            "source_file_utf8": np.frombuffer(source_label.encode("utf-8"), dtype=np.uint8),
         }
         saver(destination, **payload)
         written += 1
@@ -108,18 +130,17 @@ def export_station_h32(
         )
 
     metadata: dict[str, Any] = {
-        "source_rscap": str(rscap.resolve()),
-        "capture": file_summary(capture),
         "frames_decoded": len(frames),
         "frames_written": written,
         "frames_dir": str(frames_dir.resolve()),
         "time_basis": "H32 MSOP device timestamp (packet seconds+microseconds)",
         "points_raw_columns": ["d_mm", "azimuth_deg", "altitude_deg", "intensity", "progression"],
+        **metadata_extra,
     }
     (out / "metadata.json").write_text(json.dumps(metadata, ensure_ascii=False, indent=2), encoding="utf-8")
     (out / "README.md").write_text(
         "# H32 station export (internal)\n\n"
-        f"- source: `{rscap}`\n"
+        f"- source: `{source_label}`\n"
         f"- frames: `{frames_dir}`\n"
         "- Prefer ``tools/export_raw_to_combined.py`` for the full RTK–LiDAR package.\n",
         encoding="utf-8",
@@ -128,18 +149,133 @@ def export_station_h32(
         reports = out / "reports"
         reports.mkdir(parents=True, exist_ok=True)
         with (reports / "manifest.csv").open("w", encoding="utf-8", newline="") as stream:
-            writer = csv.DictWriter(stream, fieldnames=list(manifest_rows[0].keys()) if manifest_rows else ["index"])
+            writer = csv.DictWriter(
+                stream, fieldnames=list(manifest_rows[0].keys()) if manifest_rows else ["index"]
+            )
             writer.writeheader()
             writer.writerows(manifest_rows)
-        (reports / "export_summary.json").write_text(json.dumps(metadata, ensure_ascii=False, indent=2), encoding="utf-8")
+        (reports / "export_summary.json").write_text(
+            json.dumps(metadata, ensure_ascii=False, indent=2), encoding="utf-8"
+        )
     return metadata
 
 
+def export_station_h32(
+    station: Path,
+    out: Path,
+    *,
+    capture_name: str = "h32.rscap",
+    stride: int = 1,
+    min_frame_points: int = 100,
+    min_range_m: float = 0.3,
+    max_range_m: float = 120.0,
+    compress: bool = True,
+    write_reports: bool = False,
+    resume: bool = False,
+) -> dict[str, Any]:
+    """Decode one station H32 ``.rscap`` into ``out/frames/*.npz``."""
+
+    rscap = (
+        station
+        if station.is_file() and station.suffix.lower() == ".rscap"
+        else resolve_lidar_rscap(station, capture_name)
+    )
+    capture = read_capture(rscap)
+    frames = iter_h32_frames_polar(
+        capture,
+        min_frame_points=min_frame_points,
+        frame_stride=max(1, stride),
+        min_range_m=min_range_m,
+        max_range_m=max_range_m,
+    )
+    if not frames:
+        raise RuntimeError(f"no H32 frames decoded from {rscap}")
+    return _write_polar_frames(
+        out=out,
+        frames=frames,
+        source_label=str(rscap.resolve()),
+        compress=compress,
+        write_reports=write_reports,
+        resume=resume,
+        metadata_extra={
+            "kind": "h32_rscap",
+            "source_rscap": str(rscap.resolve()),
+            "capture": file_summary(capture),
+            "angle_source": "default_msop_only_vertical_-16_to_16_deg",
+        },
+    )
+
+
+def export_station_h32_dlog(
+    station: Path,
+    out: Path,
+    *,
+    msop_object: str = "frontlidar-msop-raw",
+    difop_object: str = "frontlidar-difop-raw",
+    require_difop: bool = True,
+    stride: int = 1,
+    min_frame_points: int = 100,
+    min_range_m: float = 0.3,
+    max_range_m: float = 120.0,
+    compress: bool = True,
+    write_reports: bool = False,
+    resume: bool = False,
+) -> dict[str, Any]:
+    """Decode one station H32 raw-MSOP/DIFOP dlog into ``out/frames/*.npz``."""
+
+    session = load_h32_dlog_lidar(
+        station,
+        msop_object=msop_object,
+        difop_object=difop_object,
+        require_difop=require_difop,
+    )
+    frames = iter_h32_frames_polar_from_packets(
+        session.msop_packets,
+        host_utc_ticks=session.msop_host_utc_ticks,
+        min_frame_points=min_frame_points,
+        frame_stride=max(1, stride),
+        min_range_m=min_range_m,
+        max_range_m=max_range_m,
+        vertical_deg=session.vertical_deg,
+        horizontal_deg=session.horizontal_deg,
+    )
+    if not frames:
+        raise RuntimeError(f"no H32 frames decoded from dlog {session.dlog_root}")
+    return _write_polar_frames(
+        out=out,
+        frames=frames,
+        source_label=str(session.dlog_root.resolve()),
+        compress=compress,
+        write_reports=write_reports,
+        resume=resume,
+        metadata_extra={
+            "kind": "h32_dlog_raw",
+            "source_dlog": str(session.dlog_root.resolve()),
+            "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,
+        },
+    )
+
+
 def parse_args() -> argparse.Namespace:
     parser = argparse.ArgumentParser(description=__doc__)
-    parser.add_argument("--station", type=Path, required=True, help="Station directory or .rscap file")
+    parser.add_argument("--station", type=Path, required=True, help="Station directory, .rscap, or dlog root")
     parser.add_argument("--out", type=Path, required=True)
     parser.add_argument("--capture-name", default="h32.rscap")
+    parser.add_argument("--msop-object", default="frontlidar-msop-raw")
+    parser.add_argument("--difop-object", default="frontlidar-difop-raw")
+    parser.add_argument(
+        "--require-difop",
+        action=argparse.BooleanOptionalAction,
+        default=True,
+        help="For dlog stations, require valid DIFOP angles (default: true)",
+    )
     parser.add_argument("--stride", type=int, default=1)
     parser.add_argument("--min-frame-points", type=int, default=100)
     parser.add_argument("--min-range-m", type=float, default=0.3)
@@ -152,18 +288,48 @@ def parse_args() -> argparse.Namespace:
 
 def main() -> int:
     args = parse_args()
-    metadata = export_station_h32(
+    station = args.station
-        args.station,
+    if station.is_file() and station.suffix.lower() == ".rscap":
-        args.out,
+        metadata = export_station_h32(
-        capture_name=args.capture_name,
+            station,
-        stride=args.stride,
+            args.out,
-        min_frame_points=args.min_frame_points,
+            capture_name=args.capture_name,
-        min_range_m=args.min_range_m,
+            stride=args.stride,
-        max_range_m=args.max_range_m,
+            min_frame_points=args.min_frame_points,
-        compress=args.compress,
+            min_range_m=args.min_range_m,
-        write_reports=args.write_reports,
+            max_range_m=args.max_range_m,
-        resume=args.resume,
+            compress=args.compress,
-    )
+            write_reports=args.write_reports,
+            resume=args.resume,
+        )
+    elif is_h32_raw_dlog_station(station, msop_object=args.msop_object):
+        metadata = export_station_h32_dlog(
+            station,
+            args.out,
+            msop_object=args.msop_object,
+            difop_object=args.difop_object,
+            require_difop=args.require_difop,
+            stride=args.stride,
+            min_frame_points=args.min_frame_points,
+            min_range_m=args.min_range_m,
+            max_range_m=args.max_range_m,
+            compress=args.compress,
+            write_reports=args.write_reports,
+            resume=args.resume,
+        )
+    else:
+        metadata = export_station_h32(
+            station,
+            args.out,
+            capture_name=args.capture_name,
+            stride=args.stride,
+            min_frame_points=args.min_frame_points,
+            min_range_m=args.min_range_m,
+            max_range_m=args.max_range_m,
+            compress=args.compress,
+            write_reports=args.write_reports,
+            resume=args.resume,
+        )
     print(json.dumps(metadata, ensure_ascii=False, indent=2))
     return 0
 

tools/export_raw_to_combined.py

@@ -1,19 +1,22 @@
 #!/usr/bin/env python3
 """One-shot export: raw H32/G90/N300 captures → RTK–LiDAR ``combined/`` package.
 
-Analogous to Lidar-IMU ``tools/export_rscap_to_v1.py``: raw ``.rscap`` in,
+Analogous to Lidar-IMU ``tools/export_rscap_to_v1.py``: raw captures in,
 calibration-ready intermediate out. Downstream prepare/solve consume ``combined/``
 only (``manifest.csv`` + associated frame NPZs).
 
-Expected raw layout:
+Expected raw layout (new H32 DLogCapture):
 
     stations/
-      001/h32.rscap
+      001/                 # dobject/ + dobject_recording/  (or 001/dlog/...)
-      002/h32.rscap
+      002/
       ...
-    captures/   (paths passed explicitly)
+    captures/
-      rtk.rscap   # G90: #PVTSLNA + #UNIHEADINGA
+      rtk.rscap            # G90: #PVTSLNA + #UNIHEADINGA
-      imu.rscap   # N300 (associated only; not used in AX=XB)
+      imu.rscap            # N300 (associated only; not used in AX=XB)
+
+Also accepts legacy per-station ``h32.rscap``, and older decoded-point-cloud dlog
+stations (prefer ``--time-basis host`` for those).
 
 Output under ``--out``:
 
@@ -22,9 +25,6 @@ Output under ``--out``:
     combined/frames/*.npz + manifest.csv + dataset_summary.json
     export_summary.json
 
-Legacy dlog stations (``dobject`` + ``dobject_recording``) are still accepted;
-use ``--time-basis host`` for those datasets.
-
 Raw ``.rscap`` / dlog files are never modified.
 """
 
@@ -45,7 +45,14 @@ sys.path.insert(0, str(ROOT / "rscap_v2"))
 
 from build_multisensor_npz import build_combined  # noqa: E402
 from capture_format_v2 import file_summary, read_capture  # noqa: E402
-from export_h32_rscap_station import export_station_h32, resolve_lidar_rscap  # noqa: E402
+from export_h32_rscap_station import (  # noqa: E402
+    export_station_h32,
+    export_station_h32_dlog,
+    is_h32_raw_dlog_station,
+    is_legacy_pointcloud_dlog_station,
+    resolve_lidar_rscap,
+    try_resolve_dlog_root,
+)
 from pipeline_common_corrected import (  # noqa: E402
     parse_imu_capture,
     parse_rtk_capture,
@@ -57,16 +64,21 @@ from pipeline_common_corrected import (  # noqa: E402
 def is_h32_station(station: Path, capture_name: str) -> bool:
     try:
         resolve_lidar_rscap(station, capture_name)
-        return True
     except FileNotFoundError:
         return False
+    return True
 
 
 def is_dlog_station(station: Path) -> bool:
-    return (station / "dobject").is_dir() and (station / "dobject_recording").is_dir()
+    return try_resolve_dlog_root(station) is not None
 
 
-def discover_stations(stations_root: Path, names: list[str], capture_name: str) -> list[Path]:
+def discover_stations(
+    stations_root: Path,
+    names: list[str],
+    capture_name: str,
+    msop_object: str,
+) -> list[Path]:
     if names:
         stations = [stations_root / name for name in names]
         missing = [str(path) for path in stations if not path.is_dir()]
@@ -77,13 +89,19 @@ def discover_stations(stations_root: Path, names: list[str], capture_name: str)
         [
             path
             for path in stations_root.iterdir()
-            if path.is_dir() and (is_h32_station(path, capture_name) or is_dlog_station(path))
+            if path.is_dir()
+            and (
+                is_h32_station(path, capture_name)
+                or is_h32_raw_dlog_station(path, msop_object=msop_object)
+                or is_dlog_station(path)
+            )
         ],
         key=lambda path: path.name,
     )
     if not stations:
         raise FileNotFoundError(
-            f"no station with {capture_name}/lidar.rscap or dobject+dobject_recording under {stations_root}"
+            f"no station with H32 dlog/MSOP, {capture_name}/lidar.rscap, or "
+            f"dobject+dobject_recording under {stations_root}"
         )
     return stations
 
@@ -101,7 +119,7 @@ def export_legacy_dlog_station(
         sys.executable,
         str(exporter),
         "--dlog",
-        str(station),
+        str(try_resolve_dlog_root(station) or station),
         "--out",
         str(out),
         "--object",
@@ -154,6 +172,9 @@ def export_raw_to_combined(
     out: Path,
     station_names: list[str] | None = None,
     lidar_capture_name: str = "h32.rscap",
+    msop_object: str = "frontlidar-msop-raw",
+    difop_object: str = "frontlidar-difop-raw",
+    require_difop: bool = True,
     lidar_object: str = "frontlidar",
     timezone: str = "+08:00",
     stride: int = 1,
@@ -174,7 +195,6 @@ def export_raw_to_combined(
     if out.exists() and any(out.iterdir()) and not overwrite:
         raise FileExistsError(f"{out} is non-empty; pass --overwrite")
     if overwrite and out.exists():
-        # Keep out root but clear known children so rebuild is deterministic.
         for child in ("export", "parsed", "combined", "export_summary.json", "capture_audit.json"):
             target = out / child
             if target.is_dir():
@@ -187,15 +207,29 @@ def export_raw_to_combined(
     parsed_root = out / "parsed"
     combined_root = out / "combined"
 
-    stations = discover_stations(stations_root, station_names or [], lidar_capture_name)
+    stations = discover_stations(
+        stations_root, station_names or [], lidar_capture_name, msop_object
+    )
     parse_summary = parse_serial(rtk_rscap, imu_rscap, parsed_root)
 
     station_meta: list[dict[str, Any]] = []
     lidar_segments: list[tuple[str, Path]] = []
-    saw_dlog = False
+    saw_legacy_dlog = False
     for station in stations:
         station_out = export_root / station.name
-        if is_h32_station(station, lidar_capture_name):
+        if is_h32_raw_dlog_station(station, msop_object=msop_object):
+            meta = export_station_h32_dlog(
+                station,
+                station_out,
+                msop_object=msop_object,
+                difop_object=difop_object,
+                require_difop=require_difop,
+                stride=stride,
+                write_reports=True,
+                resume=False,
+            )
+            kind = "h32_dlog_raw"
+        elif is_h32_station(station, lidar_capture_name):
             meta = export_station_h32(
                 station,
                 station_out,
@@ -205,8 +239,10 @@ def export_raw_to_combined(
                 resume=False,
             )
             kind = "h32_rscap"
-        elif is_dlog_station(station):
+        elif is_legacy_pointcloud_dlog_station(station, msop_object=msop_object) or is_dlog_station(
-            saw_dlog = True
+            station
+        ):
+            saw_legacy_dlog = True
             export_legacy_dlog_station(
                 station,
                 station_out,
@@ -217,16 +253,18 @@ def export_raw_to_combined(
             meta = {"source": str(station.resolve()), "kind": "legacy_dlog"}
             kind = "legacy_dlog"
         else:
-            raise RuntimeError(f"station {station.name} has neither H32 .rscap nor dlog layout")
+            raise RuntimeError(
+                f"station {station.name} has neither H32 raw dlog, .rscap, nor legacy dlog layout"
+            )
         frames_dir = station_out / "frames"
         if not frames_dir.is_dir() or not any(frames_dir.glob("*.npz")):
             raise RuntimeError(f"no exported frames for station {station.name}: {frames_dir}")
         lidar_segments.append((station.name, frames_dir))
         station_meta.append({"station": station.name, "kind": kind, "frames_dir": str(frames_dir), **meta})
 
-    if saw_dlog and time_basis == "device_gnss":
+    if saw_legacy_dlog and time_basis == "device_gnss":
         print(
-            "[warn] legacy dlog stations use host/DObject time; prefer --time-basis host",
+            "[warn] legacy point-cloud dlog stations use host/DObject time; prefer --time-basis host",
             file=sys.stderr,
         )
 
@@ -260,7 +298,9 @@ def export_raw_to_combined(
         },
         "timestamp_policy": {
             "default_time_basis": time_basis,
-            "lidar_h32": "MSOP device timestamp → unix_time_ns",
+            "lidar_h32_dlog": "MSOP device timestamp → unix_time_ns; DIFOP channel angles for XYZ",
+            "lidar_h32_rscap": "MSOP device timestamp → unix_time_ns; default vertical angles",
+            "lidar_legacy_dlog": "DObject/host time; use time_basis=host",
             "rtk": "GNSS week/TOW when time_basis=device_gnss; else host_receive_utc_ns",
             "imu": "associated only; host-anchored device deltas in combined window",
             "host_utc": "kept for audit; not the default calibration timeline for new captures",
@@ -281,8 +321,16 @@ def parse_args() -> argparse.Namespace:
     parser.add_argument("--imu-rscap", type=Path, required=True, help="Continuous N300/IMU V2 .rscap")
     parser.add_argument("--out", type=Path, required=True, help="Output package root (contains combined/)")
     parser.add_argument("--station", action="append", default=[], help="Optional station name filter; repeatable")
-    parser.add_argument("--lidar-capture-name", default="h32.rscap")
+    parser.add_argument("--lidar-capture-name", default="h32.rscap", help="Legacy H32 .rscap filename")
-    parser.add_argument("--lidar-object", default="frontlidar", help="Legacy dlog DObject name")
+    parser.add_argument("--msop-object", default="frontlidar-msop-raw", help="Raw MSOP DObject name")
+    parser.add_argument("--difop-object", default="frontlidar-difop-raw", help="Raw DIFOP DObject name")
+    parser.add_argument(
+        "--require-difop",
+        action=argparse.BooleanOptionalAction,
+        default=True,
+        help="Require DIFOP channel angles for H32 raw dlog stations (default: true)",
+    )
+    parser.add_argument("--lidar-object", default="frontlidar", help="Legacy decoded point-cloud DObject name")
     parser.add_argument("--timezone", default="+08:00", help="Legacy dlog tick timezone")
     parser.add_argument("--stride", type=int, default=1)
     parser.add_argument("--rtk-max-dt-ms", type=float, default=150.0)
@@ -304,6 +352,9 @@ def main() -> int:
         out=args.out,
         station_names=args.station,
         lidar_capture_name=args.lidar_capture_name,
+        msop_object=args.msop_object,
+        difop_object=args.difop_object,
+        require_difop=args.require_difop,
         lidar_object=args.lidar_object,
         timezone=args.timezone,
         stride=args.stride,

tools/h32_dlog/__init__.py

@@ -0,0 +1,17 @@
+"""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 .load_session import H32DlogLidarSession, load_h32_dlog_lidar
+from .payload_v1 import parse_difop_payload, parse_msop_batch_payload
+
+__all__ = [
+    "H32DlogLidarSession",
+    "discover_records",
+    "iter_payloads",
+    "load_h32_dlog_lidar",
+    "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 +1,109 @@
+"""Load H32 MSOP packets and DIFOP angles from a Medulla dlog session."""
+
+from __future__ import annotations
+
+import sys
+from dataclasses import dataclass
+from pathlib import Path
+
+import numpy as np
+
+_TOOLS = Path(__file__).resolve().parents[1]
+_RSCAP_V2 = _TOOLS / "rscap_v2"
+if str(_RSCAP_V2) not in sys.path:
+    sys.path.insert(0, str(_RSCAP_V2))
+
+from h32_msop import default_horizontal_deg, default_vertical_deg  # noqa: E402
+
+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_host_utc_ticks: list[int]
+    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] = []
+    msop_host_utc_ticks: list[int] = []
+    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)
+            msop_host_utc_ticks.append(int(item.host_receive_utc_ticks))
+
+    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_host_utc_ticks=msop_host_utc_ticks,
+        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 / 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
+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, 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(
+def iter_h32_frames_polar_from_packets(
-    capture: CaptureFile,
+    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:
+    for index, packet in enumerate(packets):
-        packet = chunk.raw
         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,
     *,

雷达与RTK标定说明书.md

@@ -45,20 +45,20 @@ python -m pip install -r requirements.txt
 
 ### 3.1 目录结构
 
-**新车（默认）**：每站一段 H32 雷达 `.rscap`，RTK/IMU 全程各一条：
+**新车（默认）**：每站一段 H32 雷达 dlog（`RSLidarH32_3D_DLogCaptureNet48`，含 raw MSOP/DIFOP），RTK/IMU 全程各一条 `.rscap`：
 
 ```text
 raw_dataset/
 ├── stations/
-│   ├── 001/h32.rscap
+│   ├── 001/                  # dobject/ + dobject_recording/
-│   ├── 002/h32.rscap
+│   ├── 002/
 │   └── ...
 └── captures/
     ├── rtk.rscap             # G90：#PVTSLNA 位置 + #UNIHEADINGA 航向
     └── imu.rscap             # N300；仅关联保存，不参与外参求解
 ```
 
-旧车 dlog 布局（`dobject/` + `dobject_recording/`）仍可被导出脚本识别；关联时间请用 `-TimeBasis host`。
+仍兼容旧站 `h32.rscap`。仅含已解码点云、无 raw MSOP 的旧 dlog 仍可识别，关联时间请用 `-TimeBasis host`。
 
 ### 3.2 采集要求