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>

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

@@ -257,6 +257,11 @@ public class CuasPoseRT {
 	 * @param img_out null or length-1 holder - filled with the imclt render of the
 	 *        consolidated composite scene ([width*height], NaN outside task tiles);
 	 *        requesting it adds an erased re-convert + an imclt pass (debug only)
+	 * @param mb_vectors null (no motion-blur compensation) or [2][ntiles] blur vectors -
+	 *        the certified-chain MB: two task sets, double convert (positive SET +
+	 *        negative shifted SUBTRACT), erase-first so undefined tiles stay NaN
+	 * @param mb_tau bolometer time constant, s (imp.mb_tau)
+	 * @param mb_max_gain max MB scale before offset stretching (imp.mb_max_gain_inter)
 	 * @return [3][num_pix][] {centers pXpYD, vector_XYS {dx,dy,strength}, eigen
 	 *         {e0x,e0y,l0,l1}} - the coord_motion contract of interCorrPair - or null
 	 */
@@ -271,6 +276,9 @@ public class CuasPoseRT {
 			final double []     scene_xyz,
 			final double []     scene_atr,
 			final int           margin,
+			final double [][]   mb_vectors,  // By Claude on 07/05/2026
+			final double        mb_tau,      // By Claude on 07/05/2026
+			final double        mb_max_gain, // By Claude on 07/05/2026
 			final double [][][] corr_pd_out, // By Claude on 07/04/2026
 			final float [][]    img_out,     // By Claude on 07/04/2026
 			final int           debugLevel) {
@@ -280,6 +288,47 @@ public class CuasPoseRT {
 		final double [][] scene_pXpYD = OpticalFlow.transformToScenePxPyD(
 				null, center_disparity, scene_xyz, scene_atr, scene, center_CLT);
 		final double disparity_corr = clt_parameters.imp.disparity_corr + center_CLT.getDispInfinityRef();
+		if (mb_vectors != null) {
+			// Motion-blur compensation (lean v2, the certified CuasRender chain): two task
+			// sets, double convert (positive SET + negative shifted SUBTRACT), erase-first
+			// so undefined tiles reach downstream (consolidation, renders) as NaN.
+			// By Claude on 07/05/2026.
+			final TpTask [][] tp_tasks2 = GpuQuad.setInterTasksMotionBlur(
+					scene.getNumSensors(),
+					scene.getGeometryCorrection().getSensorWH()[0],
+					false,                      // GPU calculates port coordinates
+					scene_pXpYD,
+					selection,                  // only the calibrated tile selection
+					mb_tau,
+					mb_max_gain,
+					mb_vectors,
+					scene.getGeometryCorrection(),
+					disparity_corr,
+					margin,
+					null,                       // valid_tiles
+					ImageDtt.THREADS_MAX);
+			if ((tp_tasks2 == null) || (tp_tasks2[0] == null) || (tp_tasks2[0].length == 0)) {
+				System.out.println("leanMeasure(): no MB tasks for scene "+scene.getImageName());
+				return null;
+			}
+			image_dtt.interCorrTDMotionBlur(
+					clt_parameters.img_dtt,
+					1,                          // erase_clt_first: NaN outside the task set
+					tp_tasks2,
+					null,                       // fcorr_td - not used with mask=0
+					clt_parameters.gpu_sigma_r,
+					clt_parameters.gpu_sigma_b,
+					clt_parameters.gpu_sigma_g,
+					clt_parameters.gpu_sigma_m,
+					scene.isMonochrome() ? 1.0 : clt_parameters.gpu_sigma_rb_corr,
+					clt_parameters.getGpuCorrSigma(scene.isMonochrome()),
+					clt_parameters.getGpuCorrLoGSigma(scene.isMonochrome()),
+					clt_parameters.corr_red,
+					clt_parameters.corr_blue,
+					0,                          // sensor_mask_inter = 0: convert only
+					ImageDtt.THREADS_MAX,
+					debugLevel);
+		} else {
 			final TpTask [] tp_tasks = GpuQuad.setInterTasks(
 					scene.getNumSensors(),
 					scene.getGeometryCorrection().getSensorWH()[0],
@@ -319,6 +368,7 @@ public class CuasPoseRT {
 			if (img_out != null) {
 				gpuQuad.execConvertDirect(false, null, 1);
 			}
+		}
 		// 3. the CPU consolidation bridge (future clt_average_sensors kernel).
 		// The TRUE weighted average is fed to the correlator (NOT scaled to the oracle's
 		// 16-pair sum): the sum-scaling experiment (LEAN-07) made peaks WIDER (sqrt_l0
@@ -413,6 +463,9 @@ public class CuasPoseRT {
 			final boolean []    param_select,
 			final double []     reg_weights,
 			final int           margin,
+			final double [][]   mb_vectors,     // null - no MB compensation // By Claude on 07/05/2026
+			final double        mb_tau,         // By Claude on 07/05/2026
+			final double        mb_max_gain,    // By Claude on 07/05/2026
 			final double []     lma_rms,        // out
 			final double [][][] coord_motion_rslt, // out [3][][]
 			final double [][][] corr_pd_out,    // null or len-1: last-cycle PD correlations // By Claude on 07/04/2026
@@ -428,7 +481,8 @@ public class CuasPoseRT {
 			cm = leanMeasure(
 					clt_parameters, image_dtt, center_CLT, scene,
 					center_disparity, pXpYD_center, selection,
-					scene_xyzatr0[0], scene_xyzatr0[1], margin, corr_pd_out, img_out, debugLevel);
+					scene_xyzatr0[0], scene_xyzatr0[1], margin,
+					mb_vectors, mb_tau, mb_max_gain, corr_pd_out, img_out, debugLevel);
 			if (cm == null) return null;
 			final double [][] eigen_masked = clt_parameters.imp.eig_xy_lma ? null : cm[2];
 			intersceneLma.prepareLMA(
@@ -510,7 +564,6 @@ public class CuasPoseRT {
 			final QuadCLT []    quadCLTs,
 			final int           debugLevel) {
 		final double  min_str =     clt_parameters.curt.pose_str;   // e.g. 1.0
-		final boolean use_lma_dsi = clt_parameters.imp.use_lma_dsi;
 		final int     margin =      clt_parameters.imp.margin;
 		final double  mb_tau =      clt_parameters.imp.mb_tau;
 		final double  mb_max_gain = clt_parameters.imp.mb_max_gain_inter;
@@ -540,10 +593,13 @@ public class CuasPoseRT {
 		// ---- Reference prep (ONCE) - the persistent virtual-center TD reference ----
 		final boolean is_aux = center_CLT.isAux();
 		final double [][] center_dsi = center_CLT.dsi;
-		final double [] disparity =     center_dsi[is_aux ? TwoQuadCLT.DSI_DISPARITY_AUX     : TwoQuadCLT.DSI_DISPARITY_MAIN];
-		final double [] disparity_lma = center_dsi[is_aux ? TwoQuadCLT.DSI_DISPARITY_AUX_LMA : TwoQuadCLT.DSI_DISPARITY_MAIN_LMA];
 		final double [] strength =      center_dsi[is_aux ? TwoQuadCLT.DSI_STRENGTH_AUX      : TwoQuadCLT.DSI_STRENGTH_MAIN];
-		final double [] center_disparity = (use_lma_dsi && (disparity_lma != null)) ? disparity_lma : disparity;
+		// ONE disparity source for all of RT (Andrey ruling, certified in the render test):
+		// the PLAIN slice conditioned to be defined for ALL tiles (sky = infinity/0,
+		// negatives clamped). NOT gated by use_lma_dsi (the LMA slice is NaN over the sky).
+		// By Claude on 07/05/2026.
+		final double [] center_disparity = CuasRender.conditionDisparityCuas(
+				center_dsi[is_aux ? TwoQuadCLT.DSI_DISPARITY_AUX : TwoQuadCLT.DSI_DISPARITY_MAIN]);
 		final boolean [] reliable_ref = new boolean [strength.length];
 		int num_reliable = 0;
 		for (int i = 0; i < strength.length; i++) {
@@ -665,9 +721,10 @@ public class CuasPoseRT {
 				clt_parameters.getScaleStrength(center_CLT.isAux()),
 				center_CLT.getGPU()) : null;
 		if (clt_parameters.curt.pose_lean) {
-			System.out.println("CuasPoseRT.testPoseSequence(): LEAN measurement engine (phase B): "+
-					"TD-average(16) x virtual-center single conj-multiply. NOTE: no MB compensation "+
-					"in lean v1 - compare against the NOMB baseline");
+			System.out.println("CuasPoseRT.testPoseSequence(): LEAN measurement engine (phase B v2, "+
+					"certified CuasRender chain): TD-average(16) x virtual-center single conj-multiply, "+
+					"all-defined conditioned disparity, MB compensation "+
+					(clt_parameters.imp.mb_en ? "ON (compare vs MBEN/stored)" : "OFF (compare vs NOMB)"));
 		}
 		if (clt_parameters.curt.pose_stored) { // By Claude on 07/04/2026
 			System.out.println("CuasPoseRT.testPoseSequence(): pose_stored ON (DEBUG) - STORED poses, "+
@@ -819,6 +876,7 @@ public class CuasPoseRT {
 						clt_parameters, image_dtt_lean, center_CLT, quadCLTs[nscene],
 						center_disparity, pXpYD_center, reliable_ref,
 						use_pose[0], use_pose[1], margin,
+						mb_vectors_scene, mb_tau, mb_max_gain, // MB per imp.mb_en // By Claude on 07/05/2026
 						corr_pd_holder, img_holder, debugLevel - 2);
 				if (cm != null) {
 					pose = new double [][] {use_pose[0].clone(), use_pose[1].clone()};
@@ -851,6 +909,9 @@ public class CuasPoseRT {
 						param_select,        // boolean []     param_select,
 						reg_weights,         // double []      reg_weights,
 						margin,              // int            margin,
+						mb_vectors_scene,    // double [][]    mb_vectors (MB per imp.mb_en - lean v2) // By Claude on 07/05/2026
+						mb_tau,              // double         mb_tau, // By Claude on 07/05/2026
+						mb_max_gain,         // double         mb_max_gain, // By Claude on 07/05/2026
 						lma_rms,             // double []      lma_rms (out),
 						coord_motion_rslt,   // double [][][]  coord_motion_rslt (out),
 						corr_pd_holder,      // double [][][]  corr_pd_out (last-cycle PD correlations) // By Claude on 07/04/2026