新增原始数据一步导出到 combined：对齐 Lidar-IMU 导出入口，适配 H32/G90/N300
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
lichun.qu
Cursor
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#!/usr/bin/env python3
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"""Export one static-station H32 V2 .rscap into LiDAR frame NPZs.
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This is an **internal** helper used by ``export_raw_to_combined.py``.
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For RTK–LiDAR calibration, prefer the one-shot exporter that writes ``combined/``.
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Output frame contract (consumed by ``build_multisensor_npz.py``):
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- ``points_raw``: (N, 5) polar ``d_mm, azimuth_deg, altitude_deg, intensity, progression``
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- ``unix_time_ns``: H32 MSOP device timestamp (seconds+us → ns)
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- ``frame_counter``, ``point_count``, optional host receive stamp
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Raw ``.rscap`` files are never modified.
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"""
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from __future__ import annotations
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import argparse
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import csv
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import json
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import sys
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from pathlib import Path
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from typing import Any
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import numpy as np
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ROOT = Path(__file__).resolve().parent
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sys.path.insert(0, str(ROOT / "rscap_v2"))
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from capture_format_v2 import file_summary, read_capture # noqa: E402
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from h32_msop import iter_h32_frames_polar # noqa: E402
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def resolve_lidar_rscap(station_dir: Path, capture_name: str = "h32.rscap") -> Path:
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candidates = [
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station_dir / capture_name,
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station_dir / "h32.rscap",
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station_dir / "lidar.rscap",
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]
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for path in candidates:
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if path.is_file():
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return path
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raise FileNotFoundError(
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f"no LiDAR .rscap under {station_dir}; tried {[str(p.name) for p in candidates]}"
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)
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def export_station_h32(
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station: Path,
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out: Path,
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*,
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capture_name: str = "h32.rscap",
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stride: int = 1,
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min_frame_points: int = 100,
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min_range_m: float = 0.3,
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max_range_m: float = 120.0,
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compress: bool = True,
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write_reports: bool = False,
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resume: bool = False,
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) -> dict[str, Any]:
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"""Decode one station H32 capture into ``out/frames/*.npz``. Returns metadata."""
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rscap = station if station.is_file() and station.suffix.lower() == ".rscap" else resolve_lidar_rscap(station, capture_name)
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frames_dir = out / "frames"
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frames_dir.mkdir(parents=True, exist_ok=True)
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capture = read_capture(rscap)
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frames = iter_h32_frames_polar(
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capture,
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min_frame_points=min_frame_points,
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frame_stride=max(1, stride),
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min_range_m=min_range_m,
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max_range_m=max_range_m,
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)
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if not frames:
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raise RuntimeError(f"no H32 frames decoded from {rscap}")
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saver = np.savez_compressed if compress else np.savez
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manifest_rows: list[dict[str, Any]] = []
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written = 0
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for index, frame in enumerate(frames):
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unix_time_ns = int(round(frame.t_start_s * 1_000_000_000))
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name = f"h32_{index:06d}_{unix_time_ns}_frame{index}.npz"
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destination = frames_dir / name
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if resume and destination.exists():
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continue
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points = np.asarray(frame.points_raw, dtype=np.float32)
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payload = {
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"points_raw": points,
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"frame_counter": np.asarray([index], dtype=np.int32),
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"point_count": np.asarray([points.shape[0]], dtype=np.int32),
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"unix_time_ns": np.asarray([unix_time_ns], dtype=np.int64),
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"device_time_s": np.asarray([frame.t_start_s], dtype=np.float64),
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"device_time_end_s": np.asarray([frame.t_end_s], dtype=np.float64),
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"host_receive_utc_ns": np.asarray([frame.host_receive_utc_ns], dtype=np.int64),
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"source_file_utf8": np.frombuffer(str(rscap.resolve()).encode("utf-8"), dtype=np.uint8),
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}
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saver(destination, **payload)
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written += 1
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manifest_rows.append(
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{
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"index": index,
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"output": name,
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"unix_time_ns": unix_time_ns,
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"point_count": int(points.shape[0]),
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"host_receive_utc_ns": int(frame.host_receive_utc_ns),
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}
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)
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metadata: dict[str, Any] = {
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"source_rscap": str(rscap.resolve()),
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"capture": file_summary(capture),
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"frames_decoded": len(frames),
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"frames_written": written,
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"frames_dir": str(frames_dir.resolve()),
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"time_basis": "H32 MSOP device timestamp (packet seconds+microseconds)",
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"points_raw_columns": ["d_mm", "azimuth_deg", "altitude_deg", "intensity", "progression"],
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}
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(out / "metadata.json").write_text(json.dumps(metadata, ensure_ascii=False, indent=2), encoding="utf-8")
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(out / "README.md").write_text(
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"# H32 station export (internal)\n\n"
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f"- source: `{rscap}`\n"
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f"- frames: `{frames_dir}`\n"
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"- Prefer ``tools/export_raw_to_combined.py`` for the full RTK–LiDAR package.\n",
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encoding="utf-8",
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)
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if write_reports:
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reports = out / "reports"
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reports.mkdir(parents=True, exist_ok=True)
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with (reports / "manifest.csv").open("w", encoding="utf-8", newline="") as stream:
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writer = csv.DictWriter(stream, fieldnames=list(manifest_rows[0].keys()) if manifest_rows else ["index"])
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writer.writeheader()
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writer.writerows(manifest_rows)
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(reports / "export_summary.json").write_text(json.dumps(metadata, ensure_ascii=False, indent=2), encoding="utf-8")
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return metadata
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def parse_args() -> argparse.Namespace:
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument("--station", type=Path, required=True, help="Station directory or .rscap file")
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parser.add_argument("--out", type=Path, required=True)
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parser.add_argument("--capture-name", default="h32.rscap")
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parser.add_argument("--stride", type=int, default=1)
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parser.add_argument("--min-frame-points", type=int, default=100)
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parser.add_argument("--min-range-m", type=float, default=0.3)
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parser.add_argument("--max-range-m", type=float, default=120.0)
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parser.add_argument("--compress", action="store_true", default=True)
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parser.add_argument("--write-reports", action="store_true")
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parser.add_argument("--resume", action="store_true", help="Skip frames that already exist")
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return parser.parse_args()
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def main() -> int:
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args = parse_args()
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metadata = export_station_h32(
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args.station,
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args.out,
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capture_name=args.capture_name,
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stride=args.stride,
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min_frame_points=args.min_frame_points,
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min_range_m=args.min_range_m,
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max_range_m=args.max_range_m,
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compress=args.compress,
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write_reports=args.write_reports,
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resume=args.resume,
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)
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print(json.dumps(metadata, ensure_ascii=False, indent=2))
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return 0
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if __name__ == "__main__":
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raise SystemExit(main())
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