Port the SAR3D background gate, CLEAN and object boxes from Multi_depthnorm_clean

- BG_GATE_ENABLE: frame peak over its median background (sar3d_background); the
  GUI scales the frame with bg_gate_gain and its cloud threshold.
- SAR_CLEAN_ENABLE: CLEAN of a one-frame aperture on a 4x10x4 cm search grid over
  the whole scene; objects in their own scale (sar3d_objects).
- SAR_MARK_ENABLE: boxes by class around object groups (sar3d_marks), with the
  legend under the views.
- SAR_VOXEL_M as three steps X/Y/Z with the notebook defaults 0.025/0.02/0.02.
- GPU backend: image/download/load/project API, per-plane block reduction for the
  maximum, depth gate without FMA; sar3d host code built with -ffp-contract=off.
- References regenerated from notebook cells 1 and 5, with new CLEAN scenes and a
  synthetic box-rule case; docs updated.

python_app/models/gui_profile_schema.py

@@ -134,7 +134,7 @@ class GuiGprStateModel:
 class GuiSar3dStateModel:
     """UI-only defaults for the 3D SAR (sar3d) live settings.
 
-    Values are the reference notebook's (Multi_antenna_demonstrate_depthnorm.ipynb), whose
+    Values are the reference notebook's (Multi_depthnorm_clean.ipynb), whose
     names the GUI shows: INPUT_IDX, F_START, MIN_DEPTH, LOOK_ANGLE_DEG, ...
     """
 
@@ -148,7 +148,9 @@ class GuiSar3dStateModel:
     ignore_socket_speed_enabled: bool = setting(False, '_sar3d_ignore_socket_speed_enabled', live='ignore_socket_speed', group='Motion')
     look_angle_deg: float = setting(19.5, '_sar3d_look_angle_deg', live='gpr_look_angle_deg', group='Motion')
     frame_radius: int = setting(0, '_sar3d_frame_radius', live='sar3d_frame_radius', group='3D SAR', minimum=0)
-    voxel_m: float = setting(0.02, '_sar3d_voxel_m', live='sar3d_voxel_m', group='3D SAR', minimum=0, exclusive_minimum=True)
+    voxel_x_m: float = setting(0.025, '_sar3d_voxel_x_m', live='sar3d_voxel_x_m', group='3D SAR', minimum=0, exclusive_minimum=True)
+    voxel_y_m: float = setting(0.02, '_sar3d_voxel_y_m', live='sar3d_voxel_y_m', group='3D SAR', minimum=0, exclusive_minimum=True)
+    voxel_z_m: float = setting(0.02, '_sar3d_voxel_z_m', live='sar3d_voxel_z_m', group='3D SAR', minimum=0, exclusive_minimum=True)
     bp_ground_depth_m: float = setting(1.25, '_sar3d_bp_ground_depth_m', live='sar3d_bp_ground_depth_m', group='3D SAR')
     comp_range_power: float = setting(0.3, '_sar3d_comp_range_power', live='sar3d_comp_range_power', group='3D SAR')
     use_compensation: bool = setting(True, '_sar3d_use_compensation', live='sar3d_use_compensation', group='3D SAR')
@@ -156,12 +158,15 @@ class GuiSar3dStateModel:
     pair_depth_equalize: bool = setting(True, '_sar3d_pair_depth_equalize', live='pair_depth_equalize', group='3D SAR')
     background_subtract_enabled: bool = setting(True, '_sar3d_background_subtract_enabled', live='gpr_background_subtract_enabled', group='3D SAR')
     background_mean_count: int = setting(10, '_sar3d_background_mean_count', live='gpr_background_mean_count', group='3D SAR', minimum=0)
+    bg_gate_enabled: bool = setting(True, '_sar3d_bg_gate_enabled', live='sar3d_bg_gate_enabled', group='3D SAR')
+    clean_enabled: bool = setting(True, '_sar3d_clean_enabled', live='sar3d_clean_enabled', group='3D SAR')
     x_size_m: float = setting(0.0, '_sar3d_x_size_m', live='sar3d_x_size_m', group='Scene', minimum=0)
     y_min_m: float = setting(-0.5, '_sar3d_y_min_m', live='sar3d_y_min_m', group='Scene')
     y_max_m: float = setting(2.0, '_sar3d_y_max_m', live='sar3d_y_max_m', group='Scene')
     z_size_m: float = setting(0.0, '_sar3d_z_size_m', live='sar3d_z_size_m', group='Scene', minimum=0)
     cloud_threshold: float = setting(0.65, '_sar3d_cloud_threshold', web='sar3d_cloud_threshold', group='Display', minimum=0, maximum=1)
     zoom_percent: int = setting(100, '_sar3d_zoom_percent', web='sar3d_zoom_percent', group='Display', minimum=100, maximum=1000)
+    mark_enabled: bool = setting(True, '_sar3d_mark_enabled', web='sar3d_mark_enabled', group='Display')
 
 
 @dataclass(slots=True)