Claude: FAIL_PENDING refactoring — migrate first loop from motion_sequence to target_sequence_multi

- Add FAIL_PENDING=-1 sentinel constant to CuasMotionLMA
- Add initFromMotionSequence(): clones motion entries into target_sequence_multi as sentinels
  (RSLT_FAIL=FAIL_PENDING, RSLT_CENTERED=CENTERED_NO, RSLT_QSCORE=initial RSLT_MSCORE)
- Add syncMotionScoreToSentinels(): keeps sentinel QSCORE current after each getEffectiveStrengthMV
- Decouple use_motion/select_new flags in filter5Targets from motion_sequence==null
- Add motion==null paths in filter5Targets: prohibit setup and is-max ranking for FAIL_PENDING sentinels
- Extend filter5Targets marking step to cover FAIL_PENDING sentinels (use_motion=true, motion==null)
- Update extendMotionScan center-detection to accept FAIL_PENDING as valid center state
- First loop in locateAndFreezeTargetsMulti: call initFromMotionSequence, syncMotionScoreToSentinels;
  pass null to filter5Targets; use applyFilter(target_sequence_multi); use getRemain(target_sequence_multi)
- getRemain(target_sequence_multi): count FAIL_PENDING+CENTERED_NO in num_noncentered
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

src/main/java/com/elphel/imagej/cuas/CuasMotion.java

@@ -1894,6 +1894,50 @@ public class CuasMotion {
 	}
 	
 	
+	// By Claude on 05/07/2026: pre-populate target_sequence_multi with FAIL_PENDING sentinels from motion_sequence.
+	// Each sentinel is a clone of the motion entry with RSLT_FAIL=FAIL_PENDING, RSLT_CENTERED=CENTERED_NO,
+	// RSLT_QSCORE initialized from RSLT_MSCORE. Preserves VX/VY/X/Y and all other motion fields.
+	public static void initFromMotionSequence(
+			final double [][][]   motion_sequence,
+			final double [][][][] target_sequence_multi) {
+		final int num_seq   = motion_sequence.length;
+		final int num_tiles = motion_sequence[0].length;
+		for (int nSeq = 0; nSeq < num_seq; nSeq++) {
+			for (int ntile = 0; ntile < num_tiles; ntile++) {
+				if (motion_sequence[nSeq][ntile] != null && target_sequence_multi[nSeq][ntile] == null) {
+					double [] sentinel = motion_sequence[nSeq][ntile].clone();
+					sentinel[CuasMotionLMA.RSLT_FAIL]     = CuasMotionLMA.FAIL_PENDING;
+					sentinel[CuasMotionLMA.RSLT_CENTERED] = CuasMotionLMA.CENTERED_NO;
+					sentinel[CuasMotionLMA.RSLT_QSCORE]   = motion_sequence[nSeq][ntile][CuasMotionLMA.RSLT_MSCORE];
+					target_sequence_multi[nSeq][ntile] = new double [][] {sentinel};
+				}
+			}
+		}
+	}
+
+	// By Claude on 05/07/2026: after each getEffectiveStrengthMV call, keep RSLT_QSCORE in FAIL_PENDING sentinels
+	// current with the freshly computed RSLT_MSCORE so filter5 ranks by up-to-date motion confidence.
+	public static void syncMotionScoreToSentinels(
+			final double [][][]   motion_sequence,
+			final double [][][][] target_sequence_multi) {
+		final int num_seq   = motion_sequence.length;
+		final int num_tiles = motion_sequence[0].length;
+		for (int nSeq = 0; nSeq < num_seq; nSeq++) {
+			for (int ntile = 0; ntile < num_tiles; ntile++) {
+				double [] mv = motion_sequence[nSeq][ntile];
+				if (mv != null && target_sequence_multi[nSeq][ntile] != null) {
+					for (double [] entry : target_sequence_multi[nSeq][ntile]) {
+						if (entry != null &&
+								entry[CuasMotionLMA.RSLT_FAIL]     == CuasMotionLMA.FAIL_PENDING &&
+								entry[CuasMotionLMA.RSLT_CENTERED] == CuasMotionLMA.CENTERED_NO) {
+							entry[CuasMotionLMA.RSLT_QSCORE] = mv[CuasMotionLMA.RSLT_MSCORE];
+						}
+					}
+				}
+			}
+		}
+	}
+
 	// fills out additional fields in target_coords
 
 	public static double [][] getEffectiveStrengthMV( // calculate tiles effective strength by the motion vectors. Combine with the target LMA?
@@ -2025,7 +2069,9 @@ public class CuasMotion {
 								for (int i = 0; i < centers.length; i++) {
 									centers[i] = (ms[i] != null) &&
 											Double.isNaN(ms[i][CuasMotionLMA.RSLT_STRONGER]) && // should not have stronger neighbor
-											(Double.isNaN(ms[i][CuasMotionLMA.RSLT_FAIL]) || (ms[i][CuasMotionLMA.RSLT_FAIL]==CuasMotionLMA.FAIL_NONE));
+											(Double.isNaN(ms[i][CuasMotionLMA.RSLT_FAIL]) ||
+													(ms[i][CuasMotionLMA.RSLT_FAIL]==CuasMotionLMA.FAIL_NONE) ||
+													(ms[i][CuasMotionLMA.RSLT_FAIL]==CuasMotionLMA.FAIL_PENDING)); // By Claude on 05/07/2026
 								}
 							}
 							if ((filtered != null) && (filtered[nSeq] == null)) {
@@ -7955,12 +8001,13 @@ public class CuasMotion {
 		if (target_sequence_multi == null) {
 			//		final double [][][][]
 			target_sequence_multi = new double [num_seq][num_tiles][][];
+			initFromMotionSequence(motion_sequence, target_sequence_multi); // By Claude on 05/07/2026
 			// first pass, using non-centered targets
 			//		double        boost_accum_pairs = slow_mode? 1.0:4.0; // just for testing, unconditionally boost tracking cameras exposure time
 			for (; niter < num_cycles; niter++) {
 				boolean save_filtered_low =  intermed_low &&  (niter < iter_show);
 				boolean save_filtered_high = intermed_high && (niter < iter_show);
-				totals = getRemain(motion_sequence, target_sequence_multi, num_all, num_undef, num_good, num_bad);
+				totals = getRemain(target_sequence_multi, num_all, num_undef, num_good, num_bad); // By Claude on 05/07/2026
 				if (totals[TOTALS_UNDEFINED] == 0) {
 					if (debugLevel > -4) System.out.println ("No undefined tiles left, breaking loop");
 					break;
@@ -7987,6 +8034,7 @@ public class CuasMotion {
 						speed_min,         // double              speed_min,
 						speed_pref,        // double              speed_pref,
 						speed_boost);      // double              speed_boost);
+				syncMotionScoreToSentinels(motion_sequence, target_sequence_multi); // By Claude on 05/07/2026
 
 				if (save_filtered_low  && debug_more) {
 					ImagePlus imp_mv_strength = showTargetSequence(
@@ -7999,7 +8047,7 @@ public class CuasMotion {
 				}
 
 				int [][] filter5 = filter5Targets( // will ignore failed tiles
-						motion_sequence,       // final double [][][] target_sequence,
+						null,                  // By Claude on 05/07/2026: use FAIL_PENDING sentinels in target_sequence_multi
 						target_sequence_multi, // final double [][][][] target_sequence_multi,
 						// if     use motion and select_new will only consider tiles (and compare motion scores in motion_sequence) that have nulls in target_sequence_multi[nseq][ntile]
 						// if not use motion and select_new will only consider (and compare scores) tiles that have [RSLT_CENTERED] = 0.0
@@ -8047,16 +8095,10 @@ public class CuasMotion {
 					break;
 				}
 
-				// was motion_scan_filtered
-				double [][][] targets_nonoverlap = applyFilter( // motion vectors // will have nulls not top try 
-						motion_sequence,          // double [][][] motion_scan,
-						filter5);                 // boolean [][] filter5)
-				// Here target_sequence_multi is yet empty
-				/*
-			double [][][] targets_nonoverlap = applyFilter( // motion vectors // will have nulls not top try 
+				// By Claude on 05/07/2026: sentinels in target_sequence_multi carry motion vector data cloned from motion_sequence
+				double [][][] targets_nonoverlap = applyFilter(
 						target_sequence_multi,    // double [][][][] target_sequence_multi
-					filter5);                 // boolean [][] filter5)
-				 */			
+						filter5);                 // int [][] filter5
 				// Anything remains? we'll see after extension
 				double [][][] extended_scan = extendMotionScan(
 						targets_nonoverlap, // final double [][][] motion_scan,
@@ -8287,7 +8329,7 @@ public class CuasMotion {
 					if (debugLevel > -4) System.out.println ("Nothing added from last try, breaking the loop.\n");
 					break;  // breaks here
 				}
-				totals = getRemain(motion_sequence, target_sequence_multi, num_all, num_undef, num_good, num_bad);
+				totals = getRemain(target_sequence_multi, num_all, num_undef, num_good, num_bad); // By Claude on 05/07/2026
 				if (debugLevel > -4) printStats ("After iteration "+niter, true, num_all, num_undef, num_good, num_bad);
 				if (debugLevel > -4) {
 					System.out.println("Non-centered iteration "+niter+" DONE.\n");
@@ -8730,8 +8772,8 @@ public class CuasMotion {
 			final int     []      remain,
 			final int     []      passes, // debugging - number of passes required
 			final int             debugLevel){
-		final boolean  use_motion = (motion_sequence != null) ? use_motion_in : false;
-		final boolean  select_new = select_new_in; // By Claude on 05/07/2026: decouple from motion_sequence so null works with select_new=true
+		final boolean  use_motion = use_motion_in; // By Claude on 05/07/2026: decouple from motion_sequence presence
+		final boolean  select_new = select_new_in; // By Claude on 05/07/2026: decouple from motion_sequence
 		boolean debug_now = (debugLevel<5);
 		final int num_seq = target_sequence_multi.length;
 		final int num_tiles = target_sequence_multi[0].length;
@@ -8764,10 +8806,25 @@ public class CuasMotion {
 								}
 								prohibit[ntile] = true;
 							}  else if (select_new){
-								if (use_motion ) { // && (target_sequence_multi[nSeq][ntile] != null)
+								if (use_motion ) {
+									if (motion != null) { // original path: prohibit already-tested tiles
 										if (target_sequence_multi[nSeq][ntile] != null) {
 											prohibit[ntile] = true;
 										}
+									} else { // By Claude on 05/07/2026: motion==null, find FAIL_PENDING+CENTERED_NO sentinels
+										boolean has_pending = false;
+										double [][] targets = target_sequence_multi[nSeq][ntile];
+										if (targets != null) {
+											for (int i = 0; i < targets.length; i++) if (targets[i] != null) {
+												if (targets[i][CuasMotionLMA.RSLT_FAIL]     == CuasMotionLMA.FAIL_PENDING &&
+													targets[i][CuasMotionLMA.RSLT_CENTERED] == CuasMotionLMA.CENTERED_NO) {
+													has_pending = true;
+													break;
+												}
+											}
+										}
+										prohibit[ntile] |= !has_pending;
+									}
 								} else { // !use_motion - find if it has at least one good with that have [RSLT_CENTERED] = 0.0
 									boolean prohibit_this = true;
 									double [][] targets = target_sequence_multi[nSeq][ntile]; 
@@ -8818,6 +8875,7 @@ public class CuasMotion {
 										boolean ismax = true;
 										if (select_new) {
 											if (use_motion) {
+												if (motion != null) {
 													check_max_motion:{
 														double cval = motion[ntile][CuasMotionLMA.RSLT_MSCORE] - min_confidence;
 														if (cval <= 0) {
@@ -8839,6 +8897,55 @@ public class CuasMotion {
 														}
 														filter5[nSeq][ntile] = 0;
 													}
+												} else { // By Claude on 05/07/2026: motion==null, rank FAIL_PENDING+CENTERED_NO sentinels by QSCORE
+													double [][] targets = target_sequence_multi[nSeq][ntile];
+													if (targets != null) {
+														int best_pending = -1;
+														check_max_pending:{
+															for (int ntarg = 0; ntarg < targets.length; ntarg++) if (targets[ntarg] != null &&
+																	targets[ntarg][CuasMotionLMA.RSLT_FAIL]     == CuasMotionLMA.FAIL_PENDING &&
+																	targets[ntarg][CuasMotionLMA.RSLT_CENTERED] == CuasMotionLMA.CENTERED_NO) {
+																double qval = targets[ntarg][CuasMotionLMA.RSLT_QSCORE];
+																if ((best_pending < 0) || (qval > targets[best_pending][CuasMotionLMA.RSLT_QSCORE])) {
+																	best_pending = ntarg;
+																}
+															}
+															if (best_pending < 0) {
+																ismax = false;
+																prohibit[ntile] = true;
+																break check_max_pending;
+															}
+															double cval = targets[best_pending][CuasMotionLMA.RSLT_QSCORE] - min_confidence;
+															if (cval <= 0) {
+																ismax = false;
+																prohibit[ntile] = true;
+																break check_max_pending;
+															}
+															for (int dy = -range; dy <= range; dy++) {
+																for (int dx = -range; dx <= range; dx++) {
+																	int ntile1 = tn.getNeibIndex(ntile, dx, dy);
+																	if ((ntile1 >= 0) && !prohibit[ntile1]) {
+																		double [][] other_targets = target_sequence_multi[nSeq][ntile1];
+																		if (other_targets != null) {
+																			for (int ntarg = 0; ntarg < other_targets.length; ntarg++) if (other_targets[ntarg] != null &&
+																					other_targets[ntarg][CuasMotionLMA.RSLT_FAIL]     == CuasMotionLMA.FAIL_PENDING &&
+																					other_targets[ntarg][CuasMotionLMA.RSLT_CENTERED] == CuasMotionLMA.CENTERED_NO) {
+																				double val = other_targets[ntarg][CuasMotionLMA.RSLT_QSCORE];
+																				if (val > cval + min_confidence) {
+																					ismax = false;
+																					break check_max_pending;
+																				}
+																			}
+																		}
+																	}
+																}
+															}
+															filter5[nSeq][ntile] = best_pending;
+														} // check_max_pending
+													} else {
+														prohibit[ntile] = true;
+													}
+												}
 											} else { // not using motion, only consider non-centered good tiles
 												double [][] targets = target_sequence_multi[nSeq][ntile]; 
 												if (targets !=  null) {
@@ -8959,9 +9066,10 @@ public class CuasMotion {
 			};
 		}		      
 		ImageDtt.startAndJoin(threads);
-		if (select_new && !use_motion) {
+		// By Claude on 05/07/2026: also mark FAIL_PENDING sentinels when use_motion=true, motion==null
+		if (select_new && (!use_motion || (motion_sequence == null))) {
 			ai.set(0);
-			// mark selected (non-centered) targets as "used"
+			// mark selected targets as "used" (CENTERED_USED): FAIL_NONE+CENTERED_NO or FAIL_PENDING+CENTERED_NO
 			for (int ithread = 0; ithread < threads.length; ithread++) {
 				threads[ithread] = new Thread() {
 					public void run() {
@@ -9462,7 +9570,9 @@ public class CuasMotion {
 									double ts_fail = tsm[ntarg][CuasMotionLMA.RSLT_FAIL];
 									int centered = (int)  tsm[ntarg][CuasMotionLMA.RSLT_CENTERED];
 									if (centered != CuasMotionLMA.CENTERED_USED) {
-										if ((centered == CuasMotionLMA.CENTERED_NO) && (ts_fail == CuasMotionLMA.FAIL_NONE)) { // only count good uncentered as undefined
+										if (ts_fail == CuasMotionLMA.FAIL_PENDING) { // By Claude on 05/07/2026: unprocessed sentinel
+											num_noncentered[nSeq]++;
+										} else if ((centered == CuasMotionLMA.CENTERED_NO) && (ts_fail == CuasMotionLMA.FAIL_NONE)) {
 											num_noncentered[nSeq]++;
 										} else if (ts_fail == CuasMotionLMA.FAIL_NONE) {
 											num_good[nSeq]++;

src/main/java/com/elphel/imagej/cuas/CuasMotionLMA.java

@@ -124,6 +124,7 @@ public class CuasMotionLMA {
 				"FLOG-px","FLOG-pY","FLOG-DISP","FLOG-range","infinity",
 				"GTarget-ID","Vel-away", "Vel-right", "Vel-up","Range-linear"};
 	public static final String EXTRA_SLICE_DISCARD_ON_LOAD = "Targets"; 
+	public static final int FAIL_PENDING =  -1; // By Claude on 05/07/2026: motion sentinel — tile tracked but not yet processed by LMA
 	public static final int FAIL_NONE =      0;
 	public static final int FAIL_MOTION =    1;  // motion strength/fraction too low
 	public static final int FAIL_NO_MAX =    2;  // no suitable local maximum