CLAUDE: pose test rebased on the certified CuasRender chain (lean v2: MB + all-defined disparity)

Per Andrey: restore the pose test using the new (certified) data.

- Disparity: ONE source for all of RT - the plain DSI slice through
  CuasRender.conditionDisparityCuas (defined for ALL tiles, sky=infinity,
  negatives clamped). The use_lma_dsi gate removed from the pose test (the
  LMA slice is NaN over the sky and silently shrank the usable set).
- leanMeasure/leanFitScene: MB compensation (lean v2) - the same certified
  machinery as CuasRender: setInterTasksMotionBlur two task sets + the
  erase-first interCorrTDMotionBlur double convert (undefined tiles NaN for
  the consolidation), gated by imp.mb_en, vectors from the existing per-scene
  getMotionBlur block (previously computed but unused by lean).
- pose_stored branch gets the same MB treatment.

Expected in the next lean run (LMA, 150-cluster selection, mb_en ON):
az/tilt wobble (v*tau, 0.5 px rotating) collapses toward the MBEN oracle
(0.029/0.021 mrad), corr RMS toward ~0.08; roll bias = the remaining open
question (FPN-mask lead).

Verified: mvn -DskipTests clean package OK.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>