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),