fix path errors

examples/basic_pipeline.py

@@ -7,7 +7,7 @@ ORY-BOX：单传感器基础流程
 3. 按需计算接触区域
 4. 读取并可视化结果
 
-SDK version: 0.4.3
+SDK version: 0.4.4
 """
 import os
 os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" 

examples/gui/preference.json

@@ -1,12 +1,12 @@
 {
-  "video_source": "D:/repo/orisys-sdk/data/dd02-0703/1.mp4",
+  "video_source": "D:/repo/orisys-sdk/data/dd02-0703/tune.mp4",
   "sensor_bundle_dir": "sensors/finger",
-  "config_path": "sensors/finger/sensor.json",
+  "config_path": "finger",
   "finger_assets_dir": "sensors/finger/assets/30fps-0703",
   "csv_save_dir": "./outputs/csv",
   "show_log": true,
   "show_flow_arrows": false,
-  "arrow_background": "pure_color",
+  "arrow_background": "unrolled",
   "free_rotate": true,
   "log_display_mode": "hidden"
 }

examples/gui/sensors/adapter.py

@@ -76,11 +76,37 @@ 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:
@@ -124,6 +150,9 @@ 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,
@@ -134,7 +163,7 @@ def _snapshot_from_sensor(
         normal_force=fn_raw,
         shear_x=float(fshearx),
         shear_y=float(fsheary),
-        normal_force_calibrated=calibrate_normal_force(fn_raw),
+        normal_force_calibrated=calibrate_normal_force(fn_raw, sensor_name=cal_name),
         fps=float(fps),
         timestamp=time.time(),
         raw_image=raw_image,
@@ -198,6 +227,7 @@ 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:
@@ -274,6 +304,7 @@ 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/viewer3d/dashboard.py

@@ -646,22 +646,42 @@ class FingerDashboardWindow(QMainWindow):
             self._update_play_enabled_for_source()
 
     def _select_config(self) -> None:
+        from .preferences import (
+            default_finger_config,
+            normalize_config_preference,
+            packaged_finger_bundle_root,
+        )
+
+        start = packaged_finger_bundle_root()
+        start_dir = str(start) if start is not None else "sensors/finger"
         path, _ = QFileDialog.getOpenFileName(
             self,
             "选择配置文件",
-            "config",
+            start_dir,
             "JSON (*.json);;所有文件 (*)",
         )
         if path:
-            self.settings_panel.set_config_path(path)
-            self.config.config = path
+            config = normalize_config_preference(path) or default_finger_config()
+            self.settings_panel.set_config_path(config)
+            self.config.config = config
             self._save_preferences()
 
     def _select_finger_assets(self) -> None:
+        from .preferences import (
+            default_finger_assets_dir,
+            default_finger_config,
+            normalize_assets_preference,
+            normalize_config_preference,
+            packaged_finger_bundle_root,
+        )
+
+        start = packaged_finger_bundle_root()
         path = QFileDialog.getExistingDirectory(
             self,
             "选择传感器 bundle 目录",
-            self.settings_panel.sensor_bundle_dir() or "sensors/finger",
+            str(start) if start is not None else (
+                self.settings_panel.sensor_bundle_dir() or "sensors/finger"
+            ),
         )
         if path:
             bundle_dir = Path(path)
@@ -677,12 +697,13 @@ class FingerDashboardWindow(QMainWindow):
                 if isinstance(rel_assets, str) and rel_assets.strip():
                     assets_dir = bundle_dir / rel_assets
             if config_path.is_file():
-                self.settings_panel.set_config_path(str(config_path))
-                self.config.config = str(config_path)
-            self.settings_panel.set_finger_export_dir(str(assets_dir))
-            self.config.export_dir = str(assets_dir)
+                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

@@ -13,6 +13,17 @@ LEGACY_CAMERA_SELECTION_FILE = "camera_selection.json"
 # Keep preference.json at examples/gui/ for backward compatibility.
 _GUI_DIR = Path(__file__).resolve().parents[1]
 
+# Old lab / repo-relative paths that predate packaged sensors/<name>/.
+_LEGACY_CONFIG_PATHS = {
+    "dd02",
+    "dd02-ov",
+    "config/dd02-ov.json",
+    "./config/dd02-ov.json",
+    "config/finger.json",
+    "./config/finger.json",
+    "sensors/finger/sensor.json",
+}
+
 
 def preference_path() -> Path:
     # Keep preference file at examples/gui/preference.json
@@ -23,6 +34,92 @@ def legacy_camera_selection_path() -> Path:
     return resource_path(LEGACY_CAMERA_SELECTION_FILE)
 
 
+def default_finger_config() -> str:
+    """Public product config stem resolved via packaged ``sensors/finger``."""
+    return "finger"
+
+
+def default_finger_assets_dir() -> str:
+    try:
+        from orisys.finger import DEFAULT_FINGER_EXPORT_DIR
+
+        return DEFAULT_FINGER_EXPORT_DIR
+    except ImportError:
+        return "sensors/finger/assets/30fps-0703"
+
+
+def packaged_finger_bundle_root() -> Path | None:
+    """Filesystem root of the installed ``sensors/finger`` bundle when present."""
+    try:
+        from orisys.configs import resolve_sensor_bundle
+    except ImportError:
+        return None
+    bundle = resolve_sensor_bundle("finger")
+    return bundle.root if bundle is not None else None
+
+
+def packaged_finger_assets_root() -> Path | None:
+    try:
+        from orisys.configs import resolve_sensor_asset_dir
+    except ImportError:
+        return None
+    return resolve_sensor_asset_dir("finger")
+
+
+def normalize_config_preference(value: str | None) -> str:
+    """Map legacy config paths to the packaged ``finger`` sensor name."""
+    if value is None or not str(value).strip():
+        return default_finger_config()
+    text = str(value).strip().replace("\\", "/")
+    if text in _LEGACY_CONFIG_PATHS or text.endswith("/dd02-ov.json"):
+        return default_finger_config()
+
+    root = packaged_finger_bundle_root()
+    if root is not None:
+        try:
+            if Path(value).resolve() == (root / "sensor.json").resolve():
+                return default_finger_config()
+        except OSError:
+            pass
+    return text
+
+
+def normalize_assets_preference(value: str | None) -> str:
+    """Prefer packaged ``sensors/finger/assets/...`` when saved paths are stale."""
+    default = default_finger_assets_dir()
+    if value is None or not str(value).strip():
+        return default
+    text = str(value).strip()
+    posix = text.replace("\\", "/")
+    if posix == default or posix.endswith("/sensors/finger/assets/30fps-0703"):
+        return default
+
+    path = Path(text)
+    if path.is_dir():
+        packaged = packaged_finger_assets_root()
+        if packaged is not None:
+            try:
+                if path.resolve() == packaged.resolve():
+                    return default
+            except OSError:
+                pass
+        if "sensors/finger" in posix or path.name == "30fps-0703":
+            return text if path.is_absolute() else default
+        return text
+
+    return default
+
+
+def _normalize_preferences(prefs: dict[str, Any]) -> dict[str, Any]:
+    prefs = dict(prefs)
+    if "config_path" in prefs or prefs:
+        prefs["config_path"] = normalize_config_preference(prefs.get("config_path"))
+    if "finger_assets_dir" in prefs or prefs:
+        prefs["finger_assets_dir"] = normalize_assets_preference(prefs.get("finger_assets_dir"))
+    prefs.setdefault("sensor_bundle_dir", "sensors/finger")
+    return prefs
+
+
 def _read_json(path: Path) -> dict[str, Any]:
     if not path.is_file():
         return {}
@@ -34,14 +131,14 @@ def _read_json(path: Path) -> dict[str, Any]:
 
 
 def load_preferences() -> dict[str, Any]:
-    """Load preferences, migrating camera_id from legacy file when needed."""
+    """Load preferences, migrating camera_id / legacy config paths when needed."""
     prefs = _read_json(preference_path())
     if "video_source" not in prefs:
         legacy = _read_json(legacy_camera_selection_path())
         camera_id = legacy.get("camera_id")
         if camera_id is not None and str(camera_id).strip():
             prefs["video_source"] = str(camera_id).strip()
-    return prefs
+    return _normalize_preferences(prefs)
 
 
 def save_preferences(prefs: dict[str, Any]) -> None:
@@ -49,9 +146,10 @@ def save_preferences(prefs: dict[str, Any]) -> None:
     if not isinstance(prefs, dict):
         return
     path = preference_path()
+    normalized = _normalize_preferences(prefs)
     try:
         path.parent.mkdir(parents=True, exist_ok=True)
-        path.write_text(json.dumps(prefs, indent=2) + "\n", encoding="utf-8")
+        path.write_text(json.dumps(normalized, indent=2) + "\n", encoding="utf-8")
     except OSError:
         pass
 

examples/gui/viewer3d/presets.py

@@ -25,6 +25,23 @@ class SensorBundlePreset:
     export_dir: str
 
 
+def _packaged_finger_preset() -> SensorBundlePreset | None:
+    """Use logical names that resolve through the installed wheel sensors/ layout."""
+    try:
+        from orisys.configs import resolve_sensor_bundle
+    except ImportError:
+        return None
+    bundle = resolve_sensor_bundle("finger")
+    if bundle is None:
+        return None
+    return SensorBundlePreset(
+        label="ORY-FINGER",
+        bundle_dir="sensors/finger",
+        config="finger",
+        export_dir=DEFAULT_FINGER_EXPORT_DIR,
+    )
+
+
 def _load_manifest(bundle_root: Path) -> dict:
     path = bundle_root / "manifest.json"
     if not path.is_file():
@@ -50,6 +67,14 @@ def _bundle_from_root(bundle_root: Path, *, label: str | None = None) -> SensorB
             break
         except ValueError:
             continue
+    # Packaged / checkout sensors/finger: keep resolvable product names, not absolute paths.
+    if rel_bundle.replace("\\", "/").endswith("sensors/finger") or bundle_root.name == "finger":
+        return SensorBundlePreset(
+            label=label or "ORY-FINGER",
+            bundle_dir="sensors/finger",
+            config="finger",
+            export_dir=DEFAULT_FINGER_EXPORT_DIR,
+        )
     return SensorBundlePreset(
         label=label or "ORY-FINGER",
         bundle_dir=rel_bundle,
@@ -59,6 +84,9 @@ def _bundle_from_root(bundle_root: Path, *, label: str | None = None) -> SensorB
 
 
 def default_finger_bundle() -> SensorBundlePreset:
+    packaged = _packaged_finger_preset()
+    if packaged is not None:
+        return packaged
     for root in _repo_root_candidates():
         preset = _bundle_from_root(root / "sensors" / "finger", label="ORY-FINGER")
         if preset is not None:
@@ -66,7 +94,7 @@ def default_finger_bundle() -> SensorBundlePreset:
     return SensorBundlePreset(
         label="ORY-FINGER",
         bundle_dir="sensors/finger",
-        config="sensors/finger/sensor.json",
+        config="finger",
         export_dir=DEFAULT_FINGER_EXPORT_DIR,
     )
 
@@ -108,6 +136,8 @@ def sensor_bundle_preset_index(
     for idx, preset in enumerate(presets):
         if config == preset.config and export_dir == preset.export_dir:
             return idx
+        if config in ("finger", "dd02", "dd02-ov") and preset.config == "finger":
+            return idx
         if config.endswith("/sensor.json") and export_dir.endswith("/" + Path(preset.export_dir).name):
             return idx
     return -1

examples/gui/viewer3d/widgets/settings_panel.py

@@ -16,6 +16,7 @@ from PyQt5.QtWidgets import (
 )
 
 from viz.render_2d import ArrowBackground
+from orisys.finger import DEFAULT_FINGER_EXPORT_DIR
 
 from ..layout import DashboardLayout, LAYOUT
 from ..mesh_view_state import MeshViewState
@@ -157,7 +158,7 @@ class SettingsPanelWidget(QWidget):
         bundle_row.addWidget(self.btn_browse_finger_assets)
         root.addLayout(bundle_row)
 
-        self.config_edit = QLineEdit("sensors/finger/sensor.json")
+        self.config_edit = QLineEdit("finger")
         self.config_edit.hide()
         self.btn_browse_config = QPushButton("…")
         self.btn_browse_config.hide()
@@ -167,10 +168,9 @@ class SettingsPanelWidget(QWidget):
         self.cal_edit.setPlaceholderText("Optional calibration path")
         self.cal_edit.hide()
 
-        self.finger_assets_edit = QLineEdit("sensors/finger/assets/30fps-0703")
+        self.finger_assets_edit = QLineEdit(DEFAULT_FINGER_EXPORT_DIR)
         self.finger_assets_edit.hide()
         self._apply_bundle_preset(self._bundle_presets[0])
-
         root.addWidget(self._caption("CSV save directory"))
         csv_dir_row = QHBoxLayout()
         csv_dir_row.setSpacing(6)

examples/mini_pipeline.py

@@ -7,7 +7,7 @@ ORY-MINI：单传感器基础流程
 3. 按需计算接触区域
 4. 读取并可视化结果
 
-SDK version: 0.4.3
+SDK version: 0.4.4
 """
 import os
 os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" 

examples/two_sensor_pipeline.py

@@ -18,7 +18,7 @@
 - Windows 下必须在 if __name__ == '__main__' 中调用 mp.freeze_support()
 - 每个传感器进程都会占用独立的 GPU 显存
 
-SDK version: 0.4.3
+SDK version: 0.4.4
 """
 import os
 os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" 

examples/viz/mesh_camera.py

@@ -7,6 +7,10 @@ from pathlib import Path
 import numpy as np
 
 DEFAULT_FINGER_VIZ_POSE = "sensors/finger/assets/visualization/world_to_cam.npy"
+_LEGACY_FINGER_VIZ_POSES = {
+    "assets/finger/visualization/world_to_cam.npy",
+    DEFAULT_FINGER_VIZ_POSE,
+}
 
 
 def _finger_bundle_viz_pose_candidates() -> list[Path]:
@@ -63,8 +67,9 @@ def resolve_viz_pose_path(path: str | Path | None = None) -> Path:
     here = Path(__file__).resolve()
     candidates: list[Path] = []
 
-    # Prefer the sensors/finger bundle for the default (and matching relative) path.
-    if path is None or raw.as_posix() == DEFAULT_FINGER_VIZ_POSE or not raw.is_absolute():
+    # Prefer the sensors/finger bundle for default / legacy relative paths.
+    posix = raw.as_posix()
+    if path is None or posix in _LEGACY_FINGER_VIZ_POSES or not raw.is_absolute():
         candidates.extend(_finger_bundle_viz_pose_candidates())
 
     try: