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added new filtration and fixed processing parameters

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Ayzen
2026-06-23 21:55:40 +03:00
parent 4ca4b27246
commit 42532c9868
21 changed files with 365 additions and 140 deletions
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python_app/orchestration/live_processing_config.py
+7 -5
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@@ -32,8 +32,8 @@ class ProcessingLiveConfig:
gpr_min_depth_m: float = 2.0
gpr_max_depth_m: float = 14.0
gpr_range_comp_power: float = 0.1
gpr_angle_comp_power: float = 0.0
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
# correction) or "int_focus" (focusing residual only). Mirrors Python
@@ -41,6 +41,7 @@ class ProcessingLiveConfig:
gpr_motion_mode: str = "int_minus"
gpr_max_detected_objects_to_draw: int = 5
gpr_draw_top_m_objects: int = 2
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
@@ -61,8 +62,9 @@ class ProcessingLiveConfig:
gpr_background_mean_count: int = 10
gpr_remove_sidelobe_objects_enabled: bool = True
gpr_imaging_plane_y_m: float = 0.0
# Locator filter parameters consumed by the C++ TCP locator server.
gpr_min_visible_score: 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
# 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.
@@ -109,12 +111,13 @@ class ProcessingLiveConfig:
"gpr_min_depth_m": float(self.gpr_min_depth_m),
"gpr_max_depth_m": float(self.gpr_max_depth_m),
"gpr_range_comp_power": float(self.gpr_range_comp_power),
"gpr_angle_comp_power": float(self.gpr_angle_comp_power),
"gpr_comp_power": float(self.gpr_comp_power),
"gpr_object_min_frac": float(self.gpr_object_min_frac),
"gpr_score_mode": str(self.gpr_score_mode),
"gpr_motion_mode": str(self.gpr_motion_mode),
"gpr_max_detected_objects_to_draw": int(self.gpr_max_detected_objects_to_draw),
"gpr_draw_top_m_objects": int(self.gpr_draw_top_m_objects),
"gpr_object_approach_min_frames": int(self.gpr_object_approach_min_frames),
"gpr_speed_m_s": float(self.gpr_speed_m_s),
"gpr_look_angle_deg": float(self.gpr_look_angle_deg),
"gpr_direction_sign": float(self.gpr_direction_sign),
@@ -128,7 +131,6 @@ class ProcessingLiveConfig:
"gpr_background_mean_count": int(self.gpr_background_mean_count),
"gpr_remove_sidelobe_objects_enabled": bool(self.gpr_remove_sidelobe_objects_enabled),
"gpr_imaging_plane_y_m": float(self.gpr_imaging_plane_y_m),
"gpr_min_visible_score": float(self.gpr_min_visible_score),
"legacy_gpr_min_visible_pair_count": float(self.legacy_gpr_min_visible_pair_count),
"gpr_visible_x_min_m": float(self.gpr_visible_x_min_m),
"gpr_visible_x_max_m": float(self.gpr_visible_x_max_m),