Update GPR and SAR3D processing

python_app/orchestration/live_processing_config.py

@@ -21,8 +21,6 @@ class ProcessingLiveConfig:
     bscan_gain: float = 1.0
     bscan_start_freq_mhz: float = 100.0
     bscan_stop_freq_mhz: float = 8800.0
-    legacy_gpr_mode: str = "point"
-    relative_permittivity: float | None = None
     tx_geometry: list[dict] | None = None
     rx_geometry: list[dict] | None = None
     gpr_input_positions: list[int] | None = None
@@ -30,7 +28,6 @@ class ProcessingLiveConfig:
     gpr_min_depth_m: float = 2.0
     gpr_max_depth_m: float = 14.0
     gpr_range_comp_power: float = 0.1
-    gpr_comp_power: float = 0.2
     gpr_object_min_frac: float = 0.7
     gpr_score_mode: str = "combined"
     # Backprojection intra-sweep speed-correction mode: "int_minus" (full
@@ -41,28 +38,14 @@ class ProcessingLiveConfig:
     gpr_object_approach_min_frames: int = 3
     gpr_speed_m_s: float = 0.0
     gpr_look_angle_deg: float = 0.0
-    # Motion-model knobs for the legacy GPR pipeline. `direction_sign` flips
-    # which way later events appear deeper (+1) vs shallower (-1) along Z.
-    # `apply_freq_phase_correction` enables intra-sweep frequency-domain phase
-    # compensation that fires *before* the IFFT — needed when the radar moves
-    # appreciably during one sweep.
     gpr_direction_sign: float = 1.0
-    gpr_apply_freq_phase_correction: bool = True
-    # Anchor for the motion model's per-event `dt_ref`: 'frame_center' (default)
-    # or 'first_tx_event'. Mirrors Python `MOTION_CONFIG.reference_mode`.
-    gpr_reference_mode: str = "frame_center"
-    gpr_snr_thresh: float = 4.5
-    gpr_snr_comp_max: float = 25.0
     gpr_start_freq_mhz: float = 3000.0
     gpr_stop_freq_mhz: float = 6000.0
     gpr_background_subtract_enabled: bool = True
     gpr_background_mean_count: int = 10
     gpr_remove_sidelobe_objects_enabled: bool = True
-    gpr_imaging_plane_y_m: float = 0.0
-    # Locator filter parameter consumed by the C++ TCP locator server. Coherent BP
-    # objects are already finalized in the processor (no score threshold); only legacy
-    # GPR still thresholds, on a pair count.
-    legacy_gpr_min_visible_pair_count: float = 0.0
+    gpr_bp_ground_depth_m: float = 1.25
+    pair_depth_equalize: bool = True
     # Visible X/Z window (metres). The locator and the desktop plot both clip
     # detected objects to this window, so the socket broadcasts only what is shown.
     gpr_visible_x_min_m: float = -2.0
@@ -70,7 +53,7 @@ class ProcessingLiveConfig:
     gpr_visible_z_min_m: float = 0.0
     gpr_visible_z_max_m: float = 14.0
     # 3D SAR (sar3d processor) parameters, named after the reference notebook
-    # Multi_antenna_3D_clean_v1.ipynb (SAR_FRAME_RADIUS, BP_GROUND_DEPTH_M, ...).
+    # Multi_antenna_demonstrate_depthnorm.ipynb (SAR_FRAME_RADIUS, BP_GROUND_DEPTH_M, ...).
     # The band, depth gate, antenna selection, speed and look angle are the
     # shared gpr_* fields.
     sar3d_frame_radius: int = 0
@@ -79,6 +62,10 @@ class ProcessingLiveConfig:
     sar3d_comp_range_power: float = 0.3
     sar3d_use_compensation: bool = True
     sar3d_normalize_each_frame: bool = True
+    sar3d_x_size_m: float = 0.0
+    sar3d_y_min_m: float = -0.5
+    sar3d_y_max_m: float = 2.0
+    sar3d_z_size_m: float = 0.0
     # When true, the C++ data_processor ignores socket-supplied vlc updates
     # and keeps using `gpr_speed_m_s` from this file.
     ignore_socket_speed: bool = False
@@ -100,7 +87,7 @@ class ProcessingLiveConfig:
 
     def to_dict(self) -> dict[str, object]:
         """Convert live config to JSON-serializable dictionary."""
-        optional_geometry = {"relative_permittivity", "tx_geometry", "rx_geometry"}
+        optional_geometry = {"tx_geometry", "rx_geometry"}
         return {
             name: value for name, value in asdict(self).items()
             if name not in optional_geometry or value is not None