included low pass filter in package and add to plot_data example

examples/gui/app_paths.py

@@ -27,8 +27,17 @@ def resource_path(*parts: str) -> Path:
 
 
 def default_config_path() -> str:
-    """Default ORY-FINGER config name (resolves to dd02-ov via alias)."""
-    return "dd02"
+    """Default ORY-FINGER config name (packaged stem ``finger``)."""
+    return "finger"
+
+
+def require_gui_extras() -> None:
+    try:
+        import open3d  # noqa: F401
+        from PyQt5 import QtWidgets  # noqa: F401
+        import pyqtgraph  # noqa: F401
+    except ImportError as exc:
+        raise SystemExit('GUI example requires: pip install "orisys[gui]"') from exc
 
 
 def configure_frozen_runtime() -> None:

examples/gui/sensors/adapter.py

@@ -11,6 +11,7 @@ from typing import Any, Optional
 import cv2
 import numpy as np
 import orisys
+from orisys.signal_processing import calibrate_normal_force
 
 from .roi_geometry import (
     build_roi_warp,
@@ -22,10 +23,6 @@ from .roi_geometry import (
 )
 
 
-NORMAL_FORCE_CAL_SLOPE = 3.92685554668795e-05
-NORMAL_FORCE_CAL_OFFSET = 0.0217596967278535
-
-
 @dataclass
 class FrameSnapshot:
     """Normalized per-frame payload consumed by the Qt viewer."""
@@ -49,11 +46,6 @@ class FrameSnapshot:
     record_frame: Optional[np.ndarray] = None
 
 
-def calibrate_normal_force(raw_value: float) -> float:
-    """Convert raw normal-force reading to Newtons using y = mx + c."""
-    return NORMAL_FORCE_CAL_SLOPE * float(raw_value) + NORMAL_FORCE_CAL_OFFSET
-
-
 class SensorAdapter(ABC):
     """Common interface between Qt and concrete sensor backends."""
 

examples/gui/viewer2d/backend.py

@@ -13,7 +13,7 @@ from typing import Literal, Optional, Sequence, Tuple
 import cv2
 import numpy as np
 import orisys
-from scipy.signal import butter, filtfilt
+from orisys.signal_processing import lowpass_filter
 
 FORCE_SAMPLE_RATE_HZ = 30.0
 PLOT_BUFFER_POINTS = 120
@@ -61,32 +61,6 @@ class ForcePlotState:
     y_ranges: Tuple[Tuple[float, float], Tuple[float, float], Tuple[float, float]]
 
 
-def lowpass_filter(
-    data,
-    cutoff_hz: float,
-    sample_rate_hz: float = FORCE_SAMPLE_RATE_HZ,
-    order: int = 2,
-) -> np.ndarray:
-    """Zero-phase Butterworth low-pass for uniformly sampled 1-D data."""
-    y = np.asarray(data, dtype=np.float64)
-    if cutoff_hz == 0:
-        return y.copy()
-    if y.size == 0:
-        return y
-
-    nyquist = 0.5 * sample_rate_hz
-    if cutoff_hz < 0 or cutoff_hz >= nyquist:
-        raise ValueError(
-            f"cutoff_hz must be in (0, {nyquist}) for sample_rate_hz={sample_rate_hz}"
-        )
-
-    b, a = butter(order, cutoff_hz / nyquist, btype="low")
-    padlen = 3 * (max(len(b), len(a)) - 1)
-    if y.size <= padlen:
-        return y.copy()
-    return filtfilt(b, a, y)
-
-
 def ensure_bgr(img: Optional[np.ndarray]) -> Optional[np.ndarray]:
     if img is None:
         return None

examples/gui/viewer2d/window.py

@@ -111,7 +111,7 @@ class QtViewerWindow(QMainWindow):
         self.btn_config.setObjectName("btnConfig")
         self.btn_config.clicked.connect(self._select_config)
         bar.addWidget(self.btn_config)
-        self.config_edit = QLineEdit("./config/ddjx01.json")
+        self.config_edit = QLineEdit("box")
         bar.addWidget(self.config_edit, 1)
 
         self.btn_reset = QPushButton("重置")

examples/gui/viewer3d/widgets/settings_panel.py

@@ -137,7 +137,7 @@ class SettingsPanelWidget(QWidget):
         root.addWidget(self._caption("Config"))
         config_row = QHBoxLayout()
         config_row.setSpacing(6)
-        self.config_edit = QLineEdit("dd02")
+        self.config_edit = QLineEdit("finger")
         config_row.addWidget(self.config_edit, 1)
         self.btn_browse_config = QPushButton("…")
         self.btn_browse_config.setFixedWidth(32)