sar3d: python plumbing for the new parameters and real replay timing

- replay_raw_producer carries the RECORDED per-trace capture windows
  from each snapshot's meta.json (re-anchored by the same shift as the
  frame time) instead of one synthetic window for all traces — without
  this the segmented timing model degenerates in replay;
- GUI/profile/orchestration swap the removed window knobs
  (center_depth, half_width_*, grid_n*) for the notebook parameters
  (ground depth, pitch override, voxel pitch, Y range, X margin, norm
  edge margin, smooth sigma, comp power, tx per segment).

Headless replay smoke on the 20260922_mine_fast_true dataset passes:
51 sar3d result collections, transparent preprocessor.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

python_app/orchestration/live_processing_config.py

@@ -72,19 +72,31 @@ 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 VNA_AlGo gpr_core.
-    # The frequency band, depth gate, antenna selection and motion parameters
-    # are shared with the gpr_* fields above.
-    sar3d_frame_radius: int = 6
-    sar3d_edge_frame_weight: float = 0.75
-    sar3d_pitch_deg: float = 6.0
-    sar3d_center_depth_m: float = 5.6
-    sar3d_half_width_x_m: float = 1.8
-    sar3d_half_width_y_m: float = 1.0
-    sar3d_half_width_z_m: float = 1.8
-    sar3d_grid_nx: int = 150
-    sar3d_grid_ny: int = 120
-    sar3d_grid_nz: int = 160
+    # 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.
+    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
+    # Full-region grid: X spans the antennas +- margin, Y is height above the
+    # ground, Z covers the radar depth gate over the Y range.
+    sar3d_x_margin_m: float = 2.0
+    sar3d_y_min_m: float = -0.5
+    sar3d_y_max_m: float = 2.0
+    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_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:
@@ -156,14 +168,19 @@ class ProcessingLiveConfig:
             "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_center_depth_m": float(self.sar3d_center_depth_m),
-            "sar3d_half_width_x_m": float(self.sar3d_half_width_x_m),
-            "sar3d_half_width_y_m": float(self.sar3d_half_width_y_m),
-            "sar3d_half_width_z_m": float(self.sar3d_half_width_z_m),
-            "sar3d_grid_nx": int(self.sar3d_grid_nx),
-            "sar3d_grid_ny": int(self.sar3d_grid_ny),
-            "sar3d_grid_nz": int(self.sar3d_grid_nz),
+            "sar3d_ground_depth_m": float(self.sar3d_ground_depth_m),
+            "sar3d_x_margin_m": float(self.sar3d_x_margin_m),
+            "sar3d_y_min_m": float(self.sar3d_y_min_m),
+            "sar3d_y_max_m": float(self.sar3d_y_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_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),