new gpr

python_app/orchestration/gpr_locator.py

@@ -50,7 +50,7 @@ def collection_has_gpr_payloads(collection: ResultCollection) -> bool:
 
 
 def gpr_object_rows(collection: ResultCollection) -> np.ndarray:
-    """Return object rows as `[x_m, z_m, pair_count]` from a GPR collection."""
+    """Return object rows as `[x_m, z_m, score]` from a GPR collection."""
     points_payload = collection_payload_by_name(collection, "gpr_points", kind=4)
     if points_payload is not None:
         points = np.asarray(points_payload.table, dtype=np.float32)
@@ -68,17 +68,17 @@ def gpr_object_rows(collection: ResultCollection) -> np.ndarray:
 
 def locator_observations_from_collection(
     collection: ResultCollection,
-    min_pair_count: float,
+    min_score: float,
     *,
     visible_bounds: tuple[float, float, float, float] | None = None,
 ) -> list[dict[str, float]]:
-    """Build locator observations from GPR rows using pair threshold and optional X/Z bounds."""
+    """Build locator observations from GPR rows using score threshold and optional X/Z bounds."""
     rows = gpr_object_rows(collection)
     if rows.size == 0:
         return []
 
     finite_mask = np.all(np.isfinite(rows[:, :3]), axis=1)
-    visible_mask = finite_mask & (rows[:, 2] >= float(min_pair_count))
+    visible_mask = finite_mask & (rows[:, 2] >= float(min_score))
     if visible_bounds is not None:
         x_min, x_max, z_min, z_max = (float(value) for value in visible_bounds)
         visible_mask &= (
@@ -90,7 +90,7 @@ def locator_observations_from_collection(
     filtered = rows[visible_mask]
 
     observations: list[dict[str, float]] = []
-    for x_m, z_m, _pair_count in filtered:
+    for x_m, z_m, _score in filtered:
         observations.append(
             {
                 "dst": round(float(z_m), 2),

python_app/orchestration/live_processing_config.py

@@ -27,15 +27,13 @@ class ProcessingLiveConfig:
     gpr_output_positions: list[int] | None = None
     gpr_min_depth_m: float = 2.0
     gpr_max_depth_m: float = 14.0
-    gpr_comp_power: float = 0.2
+    gpr_range_comp_power: float = 0.28
+    gpr_angle_comp_power: float = 0.10
     gpr_start_freq_mhz: float = 3000.0
     gpr_stop_freq_mhz: float = 6000.0
-    gpr_speed_m_s: float = 0.0
-    gpr_look_angle_deg: float = 0.0
-    gpr_snr_thresh: float = 4.5
-    gpr_snr_comp_max: float = 25.0
     gpr_background_subtract_enabled: bool = True
     gpr_background_mean_count: int = 10
+    gpr_remove_sidelobe_objects_enabled: bool = True
     history_command_seq: int = 0
     history_command: str = "none"
 
@@ -69,15 +67,13 @@ class ProcessingLiveConfig:
             "gpr_output_positions": [int(value) for value in self.gpr_output_positions],
             "gpr_min_depth_m": float(self.gpr_min_depth_m),
             "gpr_max_depth_m": float(self.gpr_max_depth_m),
-            "gpr_comp_power": float(self.gpr_comp_power),
+            "gpr_range_comp_power": float(self.gpr_range_comp_power),
+            "gpr_angle_comp_power": float(self.gpr_angle_comp_power),
             "gpr_start_freq_mhz": float(self.gpr_start_freq_mhz),
             "gpr_stop_freq_mhz": float(self.gpr_stop_freq_mhz),
-            "gpr_speed_m_s": float(self.gpr_speed_m_s),
-            "gpr_look_angle_deg": float(self.gpr_look_angle_deg),
-            "gpr_snr_thresh": float(self.gpr_snr_thresh),
-            "gpr_snr_comp_max": float(self.gpr_snr_comp_max),
             "gpr_background_subtract_enabled": bool(self.gpr_background_subtract_enabled),
             "gpr_background_mean_count": int(self.gpr_background_mean_count),
+            "gpr_remove_sidelobe_objects_enabled": bool(self.gpr_remove_sidelobe_objects_enabled),
             "history_command_seq": int(self.history_command_seq),
             "history_command": str(self.history_command),
         }

python_app/orchestration/locator_runtime.py

@@ -183,14 +183,14 @@ class LocatorTcpService:
     def publish_collection(
         self,
         collection: ResultCollection,
-        min_pair_count: float,
+        min_score: float,
         *,
         visible_bounds: tuple[float, float, float, float] | None = None,
     ) -> None:
         """Publish one locator payload derived from a GPR result collection."""
         observations = locator_observations_from_collection(
             collection,
-            min_pair_count,
+            min_score,
             visible_bounds=visible_bounds,
         )
         payload = build_locator_payload(