• Andrey Filippov's avatar
    CLAUDE: CuasRT - single RT entry point + borrow-boundary appropriation + calib fixes · 22d49ee1
    Andrey Filippov authored
    - NEW cuas/rt/CuasRT.java: the ENTIRE CUAS RT mode moved out of
      OpticalFlow.buildSeries (curt_en branch) into one readable top method:
      1. INITIALIZATION (ingest, photometric calibration, center appropriation)
      2. DIAGNOSTICS (rend/pose/cond tests - exclusive, never grow the top)
      3. PRODUCTION (detection; the MVP per-scene jp4 loop will replace the
         bulk oracle ingest without changing this structure).
    - Borrow boundary (Andrey ruling): all transforms of borrowed QuadCLT data
      happen at CuasRT initialization ONLY. appropriateCenter() zeroes the
      center CLT IN MEMORY (setCenterClt; -CLT-UPDATED is saved upstream, so
      the zeroed copy never persists) - the pose test drops its per-run GPU
      appropriation and uploads an already-zeroed reference. The pure math is
      CuasConditioning.zeroDcClt(fclt, pattern, level) - knows no QuadCLT.
    - FIX (POSE-09 silent no-op): the DC-pattern uniform image must be set on
      gpuQuad.getQuadCLT() - what both backends actually read (GpuQuadJna
      setBayerImages(center=true), JCuda base, CorrectionFPN recipe) - not on
      center_CLT; plus an all-zero-pattern guard (warn loudly, never fake-offset).
    - FIX (POSE-09 1470-count per-sensor sky spread vs 17 calibrated):
      rtPhotometricCalibration applies the fit to the ALREADY-SPAWNED per-scene
      instances too (created by ingest before the calib step). The recalibrated
      photometric persists only via ref INTERFRAME + a config save after a
      calib-ON run - all current configs still carry the stale values.
    Co-Authored-By: 's avatarClaude Fable 5 <noreply@anthropic.com>
    22d49ee1
OpticalFlow.java 934 KB