update examples to fix path issues

examples/gui/preference.json

@@ -1,6 +1,5 @@
 {
-  "video_source": "D:/repo/orisys-sdk/data/dd02-0703/tune.mp4",
+  "video_source": "D:/repo/orisys-sdk/data/dd02-0703/1.mp4",
-  "sensor_bundle_dir": "sensors/finger",
   "config_path": "finger",
   "finger_assets_dir": "sensors/finger/assets/30fps-0703",
   "csv_save_dir": "./outputs/csv",
@@ -8,5 +7,5 @@
   "show_flow_arrows": false,
   "arrow_background": "unrolled",
   "free_rotate": true,
-  "log_display_mode": "hidden"
+  "sensor_bundle_dir": "sensors/finger"
 }

examples/gui/sensors/adapter.py

@@ -11,7 +11,6 @@ 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,
@@ -23,6 +22,10 @@ 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."""
@@ -46,6 +49,11 @@ 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."""
 
@@ -76,37 +84,11 @@ def _bgr_from_gray_or_bgr(img: np.ndarray) -> np.ndarray:
     return img
 
 
-def _resolve_calibration_sensor_name(config_name) -> str | None:
-    """Map a config path/name to a sensors/<name> bundle when one exists."""
-    if config_name is None:
-        return None
-    from orisys.configs import resolve_sensor_bundle
-
-    text = str(config_name).strip()
-    if not text:
-        return None
-
-    path = Path(text)
-    parts = path.parts
-    if "sensors" in parts:
-        idx = parts.index("sensors")
-        if idx + 1 < len(parts):
-            candidate = parts[idx + 1]
-            if resolve_sensor_bundle(candidate) is not None:
-                return candidate
-
-    stem = path.stem if path.suffix else text
-    if resolve_sensor_bundle(stem) is not None:
-        return stem
-    return None
-
-
 def _snapshot_from_sensor(
     sensor,
     *,
     raw_image=None,
     processed_image=None,
-    sensor_name: str | None = None,
 ) -> Optional[FrameSnapshot]:
     """Build a FrameSnapshot with HHD/forces refreshed every frame."""
     if sensor is None or sensor.img is None:
@@ -150,9 +132,6 @@ def _snapshot_from_sensor(
             below_threshold_color=(160, 160, 160),
         )
 
-    cal_name = sensor_name or _resolve_calibration_sensor_name(
-        getattr(sensor, "config_name", None)
-    )
     fn_raw = float(fnormal)
     return FrameSnapshot(
         image=image_bgr,
@@ -163,7 +142,7 @@ def _snapshot_from_sensor(
         normal_force=fn_raw,
         shear_x=float(fshearx),
         shear_y=float(fsheary),
-        normal_force_calibrated=calibrate_normal_force(fn_raw, sensor_name=cal_name),
+        normal_force_calibrated=calibrate_normal_force(fn_raw),
         fps=float(fps),
         timestamp=time.time(),
         raw_image=raw_image,
@@ -227,7 +206,6 @@ class OrisysSensorAdapter(SensorAdapter):
             if self.sensor.frame is not None
             else None,
             processed_image=_bgr_from_gray_or_bgr(self.sensor.img),
-            sensor_name=_resolve_calibration_sensor_name(self.config_name),
         )
 
     def reset(self) -> None:
@@ -304,7 +282,6 @@ class Dd06RoiAdapter(SensorAdapter):
             self.sensor,
             raw_image=frame,
             processed_image=rectified,
-            sensor_name=_resolve_calibration_sensor_name(self.config_name),
         )
 
     def reset(self) -> None:

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 orisys.signal_processing import lowpass_filter
+from scipy.signal import butter, filtfilt
 
 FORCE_SAMPLE_RATE_HZ = 30.0
 PLOT_BUFFER_POINTS = 120
@@ -61,6 +61,32 @@ 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/viewer3d/camera_discovery.py

@@ -1,22 +1,139 @@
-"""Discover USB cameras for the dashboard.
+"""Discover USB cameras for the dashboard (Windows DSHOW/MSMF, Linux V4L2)."""
-
-Thin compatibility shim over ``orisys.capture`` discovery helpers.
-"""
 
 from __future__ import annotations
 
-from orisys.capture import (
+import contextlib
-    DEFAULT_MAX_CAMERA_INDEX,
+import os
-    CameraFilter,
+import sys
-    CameraInfo,
+from dataclasses import dataclass
-    list_cameras,
+
-    pick_default_camera,
+import cv2
+
+DEFAULT_MAX_CAMERA_INDEX = 10
+
+
+@dataclass(frozen=True)
+class CameraInfo:
+    index: int
+    backend_name: str
+    backend_api: int
+    width: int
+    height: int
+
+    @property
+    def source(self) -> str:
+        return str(self.index)
+
+    def label(self) -> str:
+        return f"{self.index} ({self.width}x{self.height}) [{self.backend_name}]"
+
+
+@contextlib.contextmanager
+def _suppress_opencv_noise():
+    """Hide OpenCV VideoCapture probe warnings (stderr + OpenCV log)."""
+    prev_level = None
+    set_level = None
+    try:
+        logging = getattr(getattr(cv2, "utils", None), "logging", None)
+        if logging is not None:
+            set_level = getattr(logging, "setLogLevel", None)
+            get_level = getattr(logging, "getLogLevel", None)
+            silent = getattr(logging, "LOG_LEVEL_SILENT", 0)
+            if set_level is not None:
+                if get_level is not None:
+                    prev_level = get_level()
+                set_level(silent)
+    except Exception:
+        prev_level = None
+
+    devnull = open(os.devnull, "w")
+    try:
+        with contextlib.redirect_stderr(devnull):
+            stderr_fd = sys.stderr.fileno()
+            saved_fd = os.dup(stderr_fd)
+            try:
+                os.dup2(devnull.fileno(), stderr_fd)
+                yield
+            finally:
+                os.dup2(saved_fd, stderr_fd)
+                os.close(saved_fd)
+    finally:
+        devnull.close()
+        if set_level is not None and prev_level is not None:
+            try:
+                set_level(prev_level)
+            except Exception:
+                pass
+
+
+def _backend_candidates() -> list[tuple[str, int]]:
+    candidates: list[tuple[str, int]] = []
+    if sys.platform == "win32":
+        if hasattr(cv2, "CAP_DSHOW"):
+            candidates.append(("DSHOW", cv2.CAP_DSHOW))
+        if hasattr(cv2, "CAP_MSMF"):
+            candidates.append(("MSMF", cv2.CAP_MSMF))
+    elif sys.platform.startswith("linux"):
+        # Prefer v4l2 for USB camera indices on Linux.
+        if hasattr(cv2, "CAP_V4L2"):
+            candidates.append(("V4L2", cv2.CAP_V4L2))
+    if not candidates:
+        candidates.append(("ANY", cv2.CAP_ANY))
+    return candidates
+
+
+def _try_open(index: int, backend_name: str, backend_api: int) -> CameraInfo | None:
+    cap = cv2.VideoCapture(index, backend_api)
+    if not cap.isOpened():
+        cap.release()
+        return None
+    ok, frame = cap.read()
+    width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH) or 0)
+    height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT) or 0)
+    if not ok or frame is None:
+        if width <= 0 or height <= 0:
+            cap.release()
+            return None
+    else:
+        h, w = frame.shape[:2]
+        width = width or int(w)
+        height = height or int(h)
+    cap.release()
+    return CameraInfo(
+        index=index,
+        backend_name=backend_name,
+        backend_api=backend_api,
+        width=width,
+        height=height,
     )
 
-__all__ = [
+
-    "DEFAULT_MAX_CAMERA_INDEX",
+def list_cameras(max_index: int = DEFAULT_MAX_CAMERA_INDEX) -> list[CameraInfo]:
-    "CameraFilter",
+    """Probe indices ``0 .. max_index`` and return working cameras."""
-    "CameraInfo",
+    found: list[CameraInfo] = []
-    "list_cameras",
+    seen_indices: set[int] = set()
-    "pick_default_camera",
+    backends = _backend_candidates()
-]
+
+    with _suppress_opencv_noise():
+        for index in range(0, max_index + 1):
+            for backend_name, backend_api in backends:
+                info = _try_open(index, backend_name, backend_api)
+                if info is None:
+                    continue
+                if index in seen_indices:
+                    break
+                found.append(info)
+                seen_indices.add(index)
+                break
+    return found
+
+
+def pick_default_camera(cameras: list[CameraInfo], preferred: str | None = None) -> str | None:
+    if not cameras:
+        return None
+    preferred = (preferred or "").strip()
+    if preferred:
+        for cam in cameras:
+            if cam.source == preferred:
+                return cam.source
+    return cameras[0].source

examples/gui/viewer3d/dashboard.py

@@ -2,19 +2,14 @@
 
 from __future__ import annotations
 
-import json
 import math
 import sys
 import time
-from pathlib import Path
 
 from PyQt5.QtCore import Qt, QTimer
 from PyQt5.QtGui import QIcon
 from PyQt5.QtWidgets import (
-    QAction,
-    QActionGroup,
     QApplication,
-    QDockWidget,
     QFileDialog,
     QMainWindow,
     QSplitter,
@@ -66,7 +61,6 @@ class FingerDashboardWindow(QMainWindow):
         self._frame_index = 0
         self._wall_fps = 0.0
         self._wall_fps_alpha = 0.15
-        self._log_display_mode = "hidden"
 
         self.setWindowTitle(layout.window_title)
         self.setStyleSheet(STYLE)
@@ -90,7 +84,7 @@ class FingerDashboardWindow(QMainWindow):
         root_layout.setSpacing(layout.root_spacing_px)
 
         setup = layout.panel_setup
-        self._log_panel_visible = False
+        self._log_panel_visible = setup.log_panel.enabled
         self.mesh_state = MeshViewState.from_layout(layout)
         self.mesh_viewport = MeshViewportWidget(layout=layout, mesh_state=self.mesh_state)
         arrows_slot = layout.slot("arrows")
@@ -117,6 +111,7 @@ class FingerDashboardWindow(QMainWindow):
 
         self._preferences = load_preferences()
         self.settings_panel.apply_preference_state(self._preferences)
+        self._log_panel_visible = bool(self.settings_panel.show_log_check.isChecked())
         self.mesh_viewport.set_free_rotation(bool(self.settings_panel.free_rotate_check.isChecked()))
         if self.arrow_panel is not None:
             self.arrow_panel.set_background(self.settings_panel.arrow_background())
@@ -157,6 +152,11 @@ class FingerDashboardWindow(QMainWindow):
 
         self.charts_column = QSplitter(Qt.Vertical)
         self.charts_column.addWidget(self.force_charts.widget)
+        if setup.log_panel.enabled:
+            self.charts_column.addWidget(self.log_widget)
+            self.log_widget.setVisible(self._log_panel_visible)
+            self.charts_column.setStretchFactor(0, setup.charts_log_stretch)
+            self.charts_column.setStretchFactor(1, setup.log_stretch)
         self.charts_column.setChildrenCollapsible(False)
 
         h_splitter = QSplitter(Qt.Horizontal)
@@ -172,104 +172,18 @@ class FingerDashboardWindow(QMainWindow):
         self.h_splitter = h_splitter
 
         root_layout.addWidget(h_splitter)
-        self._setup_log_dock()
-        self._apply_log_display_mode(self._preferences.get("log_display_mode", "hidden"))
 
         self.resize(*self._target_window_size())
         QTimer.singleShot(0, self._apply_panel_layout)
 
     def _set_log_panel_visible(self, visible: bool) -> None:
         self._log_panel_visible = bool(visible)
-        if hasattr(self, "log_dock"):
+        self.log_widget.setVisible(self._log_panel_visible)
-            self.log_dock.setVisible(self._log_panel_visible)
         QTimer.singleShot(0, self._apply_panel_layout)
 
-    def _setup_log_dock(self) -> None:
-        self.log_dock = QDockWidget("Log", self)
-        self.log_dock.setObjectName("logDock")
-        self.log_dock.setWidget(self.log_widget)
-        self.log_dock.setAllowedAreas(Qt.BottomDockWidgetArea | Qt.RightDockWidgetArea)
-        self.addDockWidget(Qt.BottomDockWidgetArea, self.log_dock)
-        self.log_dock.hide()
-        self.log_dock.visibilityChanged.connect(self._on_log_dock_visibility_changed)
-
-        view_menu = self.menuBar().addMenu("View")
-        self.log_toggle_action = QAction("Log Panel", self)
-        self.log_toggle_action.setCheckable(True)
-        self.log_toggle_action.triggered.connect(self._on_log_toggle_action)
-        view_menu.addAction(self.log_toggle_action)
-
-        log_content_menu = view_menu.addMenu("Log Content")
-        self.log_content_actions = QActionGroup(self)
-        self.log_content_actions.setExclusive(False)
-        for label, mode in (
-            ("Runtime log", "runtime"),
-            ("Bundle info", "bundle"),
-            ("Performance/profile", "profile"),
-        ):
-            action = QAction(label, self)
-            action.setCheckable(True)
-            action.setData(mode)
-            action.triggered.connect(lambda _checked=False, m=mode: self._apply_log_display_mode(m, save=True))
-            self.log_content_actions.addAction(action)
-            log_content_menu.addAction(action)
-
-    def _on_log_toggle_action(self, checked: bool) -> None:
-        if checked:
-            mode = self._log_display_mode if self._log_display_mode != "hidden" else "runtime"
-            self._apply_log_display_mode(mode, save=True)
-        else:
-            self._apply_log_display_mode("hidden", save=True)
-
-    def _on_log_dock_visibility_changed(self, visible: bool) -> None:
-        self._log_panel_visible = bool(visible)
-        if hasattr(self, "log_toggle_action"):
-            self.log_toggle_action.blockSignals(True)
-            self.log_toggle_action.setChecked(visible)
-            self.log_toggle_action.blockSignals(False)
-        if not visible and self._log_display_mode != "hidden":
-            self._log_display_mode = "hidden"
-            if hasattr(self, "log_content_actions"):
-                for action in self.log_content_actions.actions():
-                    action.blockSignals(True)
-                    action.setChecked(False)
-                    action.blockSignals(False)
-            self._save_preferences()
-
-    def _apply_log_display_mode(self, mode: str | None, *, save: bool = False) -> None:
-        mode = mode or "hidden"
-        self._log_display_mode = mode
-        if hasattr(self, "log_toggle_action"):
-            self.log_toggle_action.blockSignals(True)
-            self.log_toggle_action.setChecked(mode != "hidden")
-            self.log_toggle_action.blockSignals(False)
-        if hasattr(self, "log_content_actions"):
-            for action in self.log_content_actions.actions():
-                action.blockSignals(True)
-                action.setChecked(action.data() == mode)
-                action.blockSignals(False)
-        if mode == "hidden":
-            self._set_log_panel_visible(False)
-            if save:
-                self._save_preferences()
-            return
-        if mode == "bundle":
-            self.log_widget.setPlainText(
-                "Sensor bundle\n"
-                f"Config: {self.settings_panel.config_path()}\n"
-                f"Assets: {self.settings_panel.finger_export_dir()}\n"
-            )
-        elif mode == "profile":
-            self.log_widget.setPlainText(
-                "Performance/profile\n"
-                "Run with --profile to print per-stage timings in the runtime log.\n"
-            )
-        self._set_log_panel_visible(True)
-        if save:
-            self._save_preferences()
-
     def _on_log_visibility_changed(self, visible: bool) -> None:
-        self._apply_log_display_mode("runtime" if visible else "hidden", save=True)
+        self._set_log_panel_visible(visible)
+        self._save_preferences()
 
     def _on_free_rotation_changed(self, enabled: bool) -> None:
         self.mesh_viewport.set_free_rotation(enabled)
@@ -282,7 +196,6 @@ class FingerDashboardWindow(QMainWindow):
 
     def _save_preferences(self) -> None:
         prefs = self.settings_panel.preference_state()
-        prefs["log_display_mode"] = self._log_display_mode
         self._preferences = prefs
         save_preferences(prefs)
         # Keep in-memory pipeline config aligned with panel values.
@@ -304,6 +217,7 @@ class FingerDashboardWindow(QMainWindow):
         scale = self._layout_scale_factor()
         column_height = self._scaled_top_row_height(scale)
         charts_slot = self.layout.top_slot("charts")
+        log_slot = setup.log_panel
 
         for slot in setup.top_row.slots:
             if not slot.enabled:
@@ -322,11 +236,27 @@ class FingerDashboardWindow(QMainWindow):
                     settings_height,
                 )
 
+        if (
+            self._log_panel_visible
+            and log_slot.enabled
+            and log_slot.height_px > 0
+        ):
+            self.log_widget.show()
+            log_height = self._scaled_px(log_slot.height_px, scale)
+            charts_height = self._scaled_px(charts_slot.height_px, scale)
+            self.log_widget.setFixedHeight(log_height)
+            self.force_charts.set_panel_size(
+                self._scaled_px(charts_slot.width_px, scale),
+                charts_height,
+            )
+            self.charts_column.setSizes([charts_height, log_height])
+        else:
+            self.log_widget.hide()
             self.force_charts.set_panel_size(
                 self._scaled_px(charts_slot.width_px, scale),
                 column_height,
             )
-        self.charts_column.setSizes([column_height])
+            self.charts_column.setSizes([column_height, 0])
 
         self.h_splitter.setSizes(
             [self._scaled_px(slot.width_px, scale) for slot in setup.top_row.slots if slot.enabled]
@@ -349,6 +279,12 @@ class FingerDashboardWindow(QMainWindow):
         width += margins.left() + margins.right()
 
         height = layout.charts_column_height_px()
+        if (
+            self._log_panel_visible
+            and layout.panel_setup.log_panel.enabled
+            and layout.panel_setup.log_panel.height_px > 0
+        ):
+            height += self.charts_column.handleWidth()
         height += margins.top() + margins.bottom()
 
         return max(layout.window_width, width), max(layout.window_height, height)
@@ -380,6 +316,12 @@ class FingerDashboardWindow(QMainWindow):
         base_width += max(len(enabled_slots) - 1, 0) * self.h_splitter.handleWidth()
 
         base_height = self.layout.charts_column_height_px()
+        if (
+            self._log_panel_visible
+            and self.layout.panel_setup.log_panel.enabled
+            and self.layout.panel_setup.log_panel.height_px > 0
+        ):
+            base_height += self.charts_column.handleWidth()
         if base_width <= 0 or base_height <= 0:
             return 1.0
         return min(available_width / base_width, available_height / base_height)
@@ -669,41 +611,27 @@ class FingerDashboardWindow(QMainWindow):
     def _select_finger_assets(self) -> None:
         from .preferences import (
             default_finger_assets_dir,
-            default_finger_config,
             normalize_assets_preference,
-            normalize_config_preference,
+            packaged_finger_assets_root,
-            packaged_finger_bundle_root,
         )
 
-        start = packaged_finger_bundle_root()
+        start = packaged_finger_assets_root()
+        start_dir = (
+            str(start)
+            if start is not None
+            else (self.settings_panel.finger_export_dir() or default_finger_assets_dir())
+        )
         path = QFileDialog.getExistingDirectory(
             self,
-            "选择传感器 bundle 目录",
+            "选择 finger 资产目录",
-            str(start) if start is not None else (
+            start_dir,
-                self.settings_panel.sensor_bundle_dir() or "sensors/finger"
-            ),
         )
         if path:
-            bundle_dir = Path(path)
+            assets = normalize_assets_preference(path)
-            config_path = bundle_dir / "sensor.json"
-            manifest_path = bundle_dir / "manifest.json"
-            assets_dir = bundle_dir / "assets" / "30fps-0703"
-            if manifest_path.is_file():
-                try:
-                    manifest = json.loads(manifest_path.read_text(encoding="utf-8"))
-                except Exception:
-                    manifest = {}
-                rel_assets = manifest.get("assets_dir")
-                if isinstance(rel_assets, str) and rel_assets.strip():
-                    assets_dir = bundle_dir / rel_assets
-            if config_path.is_file():
-                config = normalize_config_preference(str(config_path)) or default_finger_config()
-                self.settings_panel.set_config_path(config)
-                self.config.config = config
-            assets = normalize_assets_preference(str(assets_dir)) or default_finger_assets_dir()
             self.settings_panel.set_finger_export_dir(assets)
             self.config.export_dir = assets
             self._save_preferences()
+
     def _select_csv_dir(self) -> None:
         path = QFileDialog.getExistingDirectory(
             self,

examples/gui/viewer3d/preferences.py

@@ -103,10 +103,12 @@ def normalize_assets_preference(value: str | None) -> str:
                     return default
             except OSError:
                 pass
+        # Keep a user-selected custom directory that still exists.
         if "sensors/finger" in posix or path.name == "30fps-0703":
             return text if path.is_absolute() else default
         return text
 
+    # Missing old absolute/repo paths (assets/finger, ./config era) -> packaged default.
     return default
 
 

examples/gui/viewer3d/widgets/settings_panel.py

@@ -15,16 +15,11 @@ from PyQt5.QtWidgets import (
     QWidget,
 )
 
-from viz.render_2d import ArrowBackground
 from orisys.finger import DEFAULT_FINGER_EXPORT_DIR
+from viz.render_2d import ArrowBackground
 
 from ..layout import DashboardLayout, LAYOUT
 from ..mesh_view_state import MeshViewState
-from ..presets import (
-    SensorBundlePreset,
-    discover_sensor_bundle_presets,
-    sensor_bundle_preset_index,
-)
 from ..transport_icons import reset_icon, transport_icon
 
 _PLAY_PAUSE_BUTTON_NAME = "btnPlayPause"
@@ -91,7 +86,7 @@ class SettingsPanelWidget(QWidget):
         self.show_log_check = QCheckBox("Show log panel")
         self.show_log_check.setChecked(show_log)
         self.show_log_check.toggled.connect(self.log_visibility_changed.emit)
-        self.show_log_check.hide()
+        root.addWidget(self.show_log_check)
 
         self.show_flow_arrows_check = QCheckBox("Show displacement arrows")
         self.show_flow_arrows_check.setChecked(self._mesh_state.flow_arrows_enabled)
@@ -139,38 +134,36 @@ class SettingsPanelWidget(QWidget):
         self._video_file_path = ""
         self._updating_camera_options = False
 
-        root.addWidget(self._caption("Sensor bundle"))
+        root.addWidget(self._caption("Config"))
-        bundle_row = QHBoxLayout()
+        config_row = QHBoxLayout()
-        bundle_row.setSpacing(6)
+        config_row.setSpacing(6)
-        self.sensor_bundle_combo = QComboBox()
-        self.sensor_bundle_combo.setToolTip("Select a finger sensor bundle")
-        self._bundle_presets = discover_sensor_bundle_presets()
-        for preset in self._bundle_presets:
-            self.sensor_bundle_combo.addItem(preset.label, preset)
-        self.sensor_bundle_combo.addItem("Custom…", None)
-        self._updating_bundle_combo = False
-        self.sensor_bundle_combo.currentIndexChanged.connect(self._on_bundle_combo_changed)
-        bundle_row.addWidget(self.sensor_bundle_combo, 1)
-        self.btn_browse_finger_assets = QPushButton("…")
-        self.btn_browse_finger_assets.setFixedWidth(32)
-        self.btn_browse_finger_assets.setToolTip("Browse sensor bundle folder")
-        self.btn_browse_finger_assets.clicked.connect(self.browse_finger_assets_requested.emit)
-        bundle_row.addWidget(self.btn_browse_finger_assets)
-        root.addLayout(bundle_row)
-
         self.config_edit = QLineEdit("finger")
-        self.config_edit.hide()
+        config_row.addWidget(self.config_edit, 1)
         self.btn_browse_config = QPushButton("…")
-        self.btn_browse_config.hide()
+        self.btn_browse_config.setFixedWidth(32)
+        self.btn_browse_config.setToolTip("Browse config JSON")
+        self.btn_browse_config.clicked.connect(self.browse_config_requested.emit)
+        config_row.addWidget(self.btn_browse_config)
+        root.addLayout(config_row)
 
         # Optional calibration path is kept for future re-enablement but hidden for now.
         self.cal_edit = QLineEdit("")
         self.cal_edit.setPlaceholderText("Optional calibration path")
         self.cal_edit.hide()
 
+        root.addWidget(self._caption("Finger assets"))
+        finger_assets_row = QHBoxLayout()
+        finger_assets_row.setSpacing(6)
         self.finger_assets_edit = QLineEdit(DEFAULT_FINGER_EXPORT_DIR)
-        self.finger_assets_edit.hide()
+        self.finger_assets_edit.setPlaceholderText("Blender export bundle directory")
-        self._apply_bundle_preset(self._bundle_presets[0])
+        finger_assets_row.addWidget(self.finger_assets_edit, 1)
+        self.btn_browse_finger_assets = QPushButton("…")
+        self.btn_browse_finger_assets.setFixedWidth(32)
+        self.btn_browse_finger_assets.setToolTip("Browse finger asset directory")
+        self.btn_browse_finger_assets.clicked.connect(self.browse_finger_assets_requested.emit)
+        finger_assets_row.addWidget(self.btn_browse_finger_assets)
+        root.addLayout(finger_assets_row)
+
         root.addWidget(self._caption("CSV save directory"))
         csv_dir_row = QHBoxLayout()
         csv_dir_row.setSpacing(6)
@@ -344,18 +337,16 @@ class SettingsPanelWidget(QWidget):
 
     def set_config_path(self, value: str) -> None:
         self.config_edit.setText(value)
-        self._sync_bundle_combo_from_paths()
 
     def set_calibration_path(self, value: str) -> None:
         self.cal_edit.setText(value or "")
 
     def set_finger_export_dir(self, value: str) -> None:
         self.finger_assets_edit.setText(value)
-        self._sync_bundle_combo_from_paths()
 
     def set_finger_export_dir_enabled(self, enabled: bool) -> None:
+        self.finger_assets_edit.setEnabled(enabled)
         self.btn_browse_finger_assets.setEnabled(enabled)
-        self.sensor_bundle_combo.setEnabled(enabled)
 
     def set_csv_save_dir(self, value: str) -> None:
         self.csv_dir_edit.setText(value)
@@ -396,33 +387,6 @@ class SettingsPanelWidget(QWidget):
             return
         self.csv_record_toggled.emit(not self._csv_recording)
 
-    def _apply_bundle_preset(self, preset: SensorBundlePreset) -> None:
-        self.config_edit.setText(preset.config)
-        self.finger_assets_edit.setText(preset.export_dir)
-
-    def _on_bundle_combo_changed(self, _index: int) -> None:
-        if self._updating_bundle_combo:
-            return
-        preset = self.sensor_bundle_combo.currentData()
-        if isinstance(preset, SensorBundlePreset):
-            self._apply_bundle_preset(preset)
-
-    def _sync_bundle_combo_from_paths(self) -> None:
-        idx = sensor_bundle_preset_index(
-            self.config_edit.text(),
-            self.finger_assets_edit.text(),
-            self._bundle_presets,
-        )
-        if idx < 0:
-            idx = self.sensor_bundle_combo.findData(None)
-        if idx < 0:
-            return
-        self._updating_bundle_combo = True
-        self.sensor_bundle_combo.blockSignals(True)
-        self.sensor_bundle_combo.setCurrentIndex(idx)
-        self.sensor_bundle_combo.blockSignals(False)
-        self._updating_bundle_combo = False
-
     def _emit_arrow_background_changed(self, _index: int) -> None:
         value = self.arrow_background_combo.currentData()
         if value:
@@ -449,15 +413,6 @@ class SettingsPanelWidget(QWidget):
     def finger_export_dir(self) -> str:
         return self.finger_assets_edit.text().strip()
 
-    def sensor_bundle_dir(self) -> str:
-        preset = self.sensor_bundle_combo.currentData()
-        if isinstance(preset, SensorBundlePreset):
-            return preset.bundle_dir
-        config = self.config_path()
-        if config.endswith("/sensor.json") or config.endswith("\\sensor.json"):
-            return config.rsplit("/", 1)[0].rsplit("\\", 1)[0]
-        return ""
-
     def csv_save_dir(self) -> str:
         return self.csv_dir_edit.text().strip()
 
@@ -465,7 +420,6 @@ class SettingsPanelWidget(QWidget):
         """Serialize user-facing settings suitable for preference.json."""
         return {
             "video_source": self.video_source(),
-            "sensor_bundle_dir": self.sensor_bundle_dir(),
             "config_path": self.config_path(),
             "finger_assets_dir": self.finger_export_dir(),
             "csv_save_dir": self.csv_save_dir(),
@@ -511,8 +465,6 @@ class SettingsPanelWidget(QWidget):
         if isinstance(assets, str) and assets.strip():
             self.set_finger_export_dir(assets.strip())
 
-        self._sync_bundle_combo_from_paths()
-
         csv_dir = state.get("csv_save_dir")
         if isinstance(csv_dir, str) and csv_dir.strip():
             self.set_csv_save_dir(csv_dir.strip())

examples/viz/signal_filters.py

@@ -1,5 +1,32 @@
 """Signal filtering helpers for example force charts."""
 
-from orisys.signal_processing import lowpass_filter
+from __future__ import annotations
 
-__all__ = ["lowpass_filter"]
+import numpy as np
+from scipy.signal import butter, filtfilt
+
+def lowpass_filter(data, cutoff_hz=5, sample_rate_hz=30, order=2) -> np.ndarray:
+    """Zero-phase Butterworth low-pass filter 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")
+    taplen = max(len(a), len(b))
+    # scipy.signal.filtfilt requires len(x) > padlen (default 3 * taplen for recent scipy).
+    padlen = 3 * taplen
+    if y.size <= padlen:
+        return y.copy()
+
+    try:
+        return filtfilt(b, a, y)
+    except ValueError:
+        return y.copy()