web UI added and refactoring done

python_app/gui/controllers/app_window_plot/gpr_plot_mixin.py

@@ -8,8 +8,10 @@ import pyqtgraph as pg
 
 from python_app.models.dataset_model import ResultCollection
 from python_app.orchestration.gpr_locator import (
+    apply_object_draw_limits as gpr_apply_object_draw_limits,
     collection_payload_by_name as gpr_collection_payload_by_name,
     collection_payloads_by_prefix as gpr_collection_payloads_by_prefix,
+    filter_object_rows as gpr_filter_object_rows,
     gpr_object_rows as extract_gpr_object_rows,
 )
 
@@ -252,13 +254,12 @@ class AppWindowGprPlotMixin:
 
             self._draw_gpr_geometry_markers()
 
+            # Both gpr and legacy_gpr filter heatmap object markers by their own
+            # threshold + visible X/Z window (legacy has the same controls), so the
+            # markers match the objects-only view instead of showing raw detections.
             points_payload = self._collection_payload_by_name(collection, "gpr_points", kind=4)
             if points_payload is not None and np.asarray(points_payload.table).size > 0:
-                points = (
-                    self._filtered_gpr_object_rows(collection)
-                    if self._processing_mode.currentText() == "gpr"
-                    else np.asarray(points_payload.table, dtype=np.float32)
-                )
+                points = self._filtered_gpr_object_rows(collection)
             else:
                 points = np.zeros((0, 3), dtype=np.float32)
 
@@ -388,13 +389,7 @@ class AppWindowGprPlotMixin:
     @staticmethod
     def _apply_object_draw_limits(rows: np.ndarray, limits: tuple[int, int] | None) -> np.ndarray:
         """Apply object count/top-M drawing rules to already-filtered rows."""
-        if limits is None or rows.size == 0:
-            return rows
-
-        max_detected_objects, draw_top_objects = limits
-        if rows.shape[0] > int(max_detected_objects):
-            return np.zeros((0, rows.shape[1]), dtype=rows.dtype)
-        return rows[: max(0, int(draw_top_objects))]
+        return gpr_apply_object_draw_limits(rows, limits)
 
     @staticmethod
     def _gpr_display_y_min(z_min: float, z_max: float) -> float:
@@ -517,17 +512,13 @@ class AppWindowGprPlotMixin:
             return rows
 
         x_min, x_max, z_min, z_max = self._gpr_visible_object_bounds()
-        min_score = self._gpr_locator_threshold()
-        finite_mask = np.all(np.isfinite(rows[:, :3]), axis=1)
-        visible_mask = (
-            finite_mask
-            & (rows[:, 2] >= min_score)
-            & (rows[:, 0] >= x_min)
-            & (rows[:, 0] <= x_max)
-            & (rows[:, 1] >= z_min)
-            & (rows[:, 1] <= z_max)
+        return gpr_filter_object_rows(
+            rows,
+            min_score=self._gpr_locator_threshold(),
+            x_bounds=(x_min, x_max),
+            z_bounds=(z_min, z_max),
+            draw_limits=self._gpr_draw_limits(),
         )
-        return self._apply_object_draw_limits(rows[visible_mask], self._gpr_draw_limits())
 
     def _draw_gpr_objects_only(self, collection: ResultCollection) -> bool:
         """Draw only detected GPR objects inside configured X/Z bounds."""