kamil_adc support added

python_app/orchestration/gpr_locator.py

@@ -71,6 +71,7 @@ def locator_observations_from_collection(
     min_score: float,
     *,
     visible_bounds: tuple[float, float, float, float] | None = None,
+    object_draw_limits: tuple[int, int] | None = None,
 ) -> list[dict[str, float]]:
     """Build locator observations from GPR rows using score threshold and optional X/Z bounds."""
     rows = gpr_object_rows(collection)
@@ -88,6 +89,12 @@ def locator_observations_from_collection(
             & (rows[:, 1] <= z_max)
         )
     filtered = rows[visible_mask]
+    if object_draw_limits is not None and filtered.size > 0:
+        max_detected_objects, draw_top_objects = object_draw_limits
+        if filtered.shape[0] > int(max_detected_objects):
+            filtered = np.zeros((0, filtered.shape[1]), dtype=filtered.dtype)
+        else:
+            filtered = filtered[: max(0, int(draw_top_objects))]
 
     observations: list[dict[str, float]] = []
     for x_m, z_m, _score in filtered: