sar3d: GPU port of the notebook with four views

The sar3d processor is rewritten as a checked port of Multi_antenna_3D_clean_v1.ipynb:
NVRTC kernels, timing from the trace stamps, notebook parameter names and one cubic
SAR_VOXEL_M. It adds front, side, top and 3D views, drops gpr_cpp and the parity tools,
and the GUI speed now applies only while the socket speed is ignored.

python_app/orchestration/live_processing_config.py

@@ -72,40 +72,16 @@ class ProcessingLiveConfig:
     gpr_visible_x_max_m: float = 2.0
     gpr_visible_z_min_m: float = 0.0
     gpr_visible_z_max_m: float = 14.0
-    # 3D SAR (sar3d processor) parameters; defaults mirror the reference
-    # notebook Multi_antenna_3D_clean_v1.ipynb. The frequency band, depth gate,
-    # antenna selection and motion parameters are shared with the gpr_* fields.
+    # 3D SAR (sar3d processor) parameters, named after the reference notebook
+    # Multi_antenna_3D_clean_v1.ipynb (SAR_FRAME_RADIUS, BP_GROUND_DEPTH_M, ...).
+    # The band, depth gate, antenna selection, speed and look angle are the
+    # shared gpr_* fields.
     sar3d_frame_radius: int = 0
-    sar3d_edge_frame_weight: float = 0.8
-    # Frame pitch override; disabled -> the pitch follows gpr_look_angle_deg.
-    sar3d_pitch_override_enabled: bool = False
-    sar3d_pitch_deg: float = 17.5
-    # Height of the lower antenna row above the ground (scene Y=0 = ground).
-    sar3d_ground_depth_m: float = 1.25
-    # Scene grid bounds (metres): X across, Y height above the ground, Z along
-    # the ground away from the radar. Voxels outside the radar depth gate are
-    # zeroed by the mask regardless of the Z window.
-    sar3d_x_min_m: float = -2.0
-    sar3d_x_max_m: float = 2.0
-    sar3d_y_min_m: float = -0.5
-    sar3d_y_max_m: float = 2.0
-    sar3d_z_min_m: float = 0.0
-    sar3d_z_max_m: float = 8.0
-    sar3d_voxel_x_m: float = 0.025
-    sar3d_voxel_y_m: float = 0.02
-    sar3d_voxel_z_m: float = 0.02
-    # Volume finalization: Y-edge margin excluded from normalization, Gaussian
-    # smoothing sigma over (Z, X) planes.
-    sar3d_norm_edge_margin_m: float = 0.3
-    sar3d_smooth_sigma: float = 1.5
+    sar3d_voxel_m: float = 0.02   # SAR_VOXEL_M, one edge for X, Y and Z
+    sar3d_bp_ground_depth_m: float = 1.25
     sar3d_comp_range_power: float = 0.3
-    # Fallback frame segmentation when per-trace capture stamps are absent.
-    sar3d_tx_per_segment: int = 2
     sar3d_use_compensation: bool = True
-    sar3d_normalize_pairs: bool = True
-    # Bottom-view projection angle around the vertical Y axis, degrees:
-    # 0 = front view (X horizontal), 90 = side view (Z horizontal).
-    sar3d_bottom_view_deg: float = 0.0
+    sar3d_normalize_each_frame: bool = True
     # When true, the C++ data_processor ignores socket-supplied vlc updates
     # and keeps using `gpr_speed_m_s` from this file.
     ignore_socket_speed: bool = False
@@ -171,26 +147,11 @@ class ProcessingLiveConfig:
             "gpr_visible_z_min_m": float(self.gpr_visible_z_min_m),
             "gpr_visible_z_max_m": float(self.gpr_visible_z_max_m),
             "sar3d_frame_radius": int(self.sar3d_frame_radius),
-            "sar3d_edge_frame_weight": float(self.sar3d_edge_frame_weight),
-            "sar3d_pitch_override_enabled": bool(self.sar3d_pitch_override_enabled),
-            "sar3d_pitch_deg": float(self.sar3d_pitch_deg),
-            "sar3d_ground_depth_m": float(self.sar3d_ground_depth_m),
-            "sar3d_x_min_m": float(self.sar3d_x_min_m),
-            "sar3d_x_max_m": float(self.sar3d_x_max_m),
-            "sar3d_y_min_m": float(self.sar3d_y_min_m),
-            "sar3d_y_max_m": float(self.sar3d_y_max_m),
-            "sar3d_z_min_m": float(self.sar3d_z_min_m),
-            "sar3d_z_max_m": float(self.sar3d_z_max_m),
-            "sar3d_voxel_x_m": float(self.sar3d_voxel_x_m),
-            "sar3d_voxel_y_m": float(self.sar3d_voxel_y_m),
-            "sar3d_voxel_z_m": float(self.sar3d_voxel_z_m),
-            "sar3d_norm_edge_margin_m": float(self.sar3d_norm_edge_margin_m),
-            "sar3d_smooth_sigma": float(self.sar3d_smooth_sigma),
+            "sar3d_voxel_m": float(self.sar3d_voxel_m),
+            "sar3d_bp_ground_depth_m": float(self.sar3d_bp_ground_depth_m),
             "sar3d_comp_range_power": float(self.sar3d_comp_range_power),
-            "sar3d_tx_per_segment": int(self.sar3d_tx_per_segment),
             "sar3d_use_compensation": bool(self.sar3d_use_compensation),
-            "sar3d_normalize_pairs": bool(self.sar3d_normalize_pairs),
-            "sar3d_bottom_view_deg": float(self.sar3d_bottom_view_deg),
+            "sar3d_normalize_each_frame": bool(self.sar3d_normalize_each_frame),
             "ignore_socket_speed": bool(self.ignore_socket_speed),
             "reprocess_current_result": bool(self.reprocess_current_result),
             "history_command_seq": int(self.history_command_seq),