web UI added and refactoring done

python_app/orchestration/gpr_locator.py

@@ -65,3 +65,52 @@ def gpr_object_rows(collection: ResultCollection) -> np.ndarray:
             return centers[:, :3]
 
     return np.zeros((0, 3), dtype=np.float32)
+
+
+def apply_object_draw_limits(
+    rows: np.ndarray,
+    limits: tuple[int, int] | None,
+) -> np.ndarray:
+    """Apply the object count/top-M drawing rules to already-filtered `[x, z, score]` rows.
+
+    `limits` is `(max_detected_objects, draw_top_objects)`, or `None` to disable
+    (legacy GPR). When more than ``max_detected_objects`` survive, ALL are hidden
+    (the scene is too cluttered to be meaningful); otherwise the top ``draw_top_objects``
+    rows are kept (rows arrive already sorted by score descending).
+    """
+    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))]
+
+
+def filter_object_rows(
+    rows: np.ndarray,
+    *,
+    min_score: float,
+    x_bounds: tuple[float, float],
+    z_bounds: tuple[float, float],
+    draw_limits: tuple[int, int] | None,
+) -> np.ndarray:
+    """Filter `[x_m, z_m, score]` object rows for display/broadcast.
+
+    Drops non-finite rows, rows below ``min_score`` (the caller passes the mode's own
+    threshold — a normalized float for coherent GPR, a pair count for legacy GPR; the
+    comparison is identical either way), and rows outside the visible X/Z window, then
+    applies ``draw_limits``. Mode-agnostic: all semantics enter through the parameters.
+    """
+    if rows.size == 0:
+        return rows
+    x_min, x_max = x_bounds
+    z_min, z_max = z_bounds
+    visible_mask = (
+        np.all(np.isfinite(rows[:, :3]), axis=1)
+        & (rows[:, 2] >= min_score)
+        & (rows[:, 0] >= x_min)
+        & (rows[:, 0] <= x_max)
+        & (rows[:, 1] >= z_min)
+        & (rows[:, 1] <= z_max)
+    )
+    return apply_object_draw_limits(rows[visible_mask], draw_limits)