CLAUDE: CuasPoseRT: wire motion-blur compensation (imp.mb_en gated)

Exercises the existing MB machinery in the RT iterator: when imp.mb_en is ON,
per-scene blur vectors from OpticalFlow.getMotionBlur (FD-based rates) send
interCorrPair down the setInterTasksMotionBlur/interCorrTDMotionBlur path -
convert_direct runs twice, the second run subtracting the shifted+scaled copy
via negative TpTask.scale (LWIR bolometer exponential-tail removal). mb_en OFF
keeps the single-run path, giving a one-checkbox A/B. Same getMotionBlur usage
as offline setInitialOrientationsCuas (stored truth was produced WITH MB on).

mvn compile clean (Eyesis closed).
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

src/main/java/com/elphel/imagej/cuas/rt/CuasPoseRT.java

@@ -236,6 +236,24 @@ public class CuasPoseRT {
 			}
 			quadCLTs[nscene].getErsCorrection().setErsDt(
 					QuadCLTCPU.scaleDtToErs(clt_parameters, dxyzatr_dt));
+			// Motion-blur compensation (gated by the same imp.mb_en as offline): per-tile blur
+			// vectors from the finite-difference rates -> interCorrPair takes the
+			// setInterTasksMotionBlur/interCorrTDMotionBlur path (convert_direct runs twice,
+			// the second run subtracts the shifted+scaled copy via negative TpTask.scale -
+			// removes the LWIR bolometer exponential tail). mb_en OFF -> single-run path (A/B).
+			double [][] mb_vectors_scene = null;
+			if (clt_parameters.imp.mb_en) {
+				mb_vectors_scene = OpticalFlow.getMotionBlur(
+						center_CLT,          // QuadCLT        ref_scene,
+						quadCLTs[nscene],    // QuadCLT        scene,
+						pXpYD_center,        // double [][]    ref_pXpYD,
+						predicted[0],        // double []      camera_xyz,
+						predicted[1],        // double []      camera_atr,
+						dxyzatr_dt[0],       // double []      camera_xyz_dt,
+						dxyzatr_dt[1],       // double []      camera_atr_dt,
+						0,                   // int            shrink_gaps,
+						debugLevel - 2);     // int            debug_level
+			}
 			fail_reason[0] = 0;
 			final double [][][] coord_motion_rslt = new double [3][][]; // [centers, vector_XYS, eigen] of the last LMA cycle
 			double [][] pose = Interscene.adjustPairsLMAInterscene(
@@ -263,7 +281,7 @@ public class CuasPoseRT {
 					max_rms,             // double         max_rms,
 					mb_tau,              // double         mb_tau,
 					mb_max_gain,         // double         mb_max_gain,
-					null,                // double [][]    mb_vectors (MB off in phase A),
+					mb_vectors_scene,    // double [][]    mb_vectors (null when imp.mb_en OFF - single-run path),
 					coord_motion_rslt,   // double [][][]  coord_motion_rslt (last-cycle measurement, for -POSE-RT-HYPER),
 					debugLevel - 2);     // int            debug_level
 			final boolean ok = (pose != null);