CLAUDE: CuasRT - single RT entry point + borrow-boundary appropriation + calib fixes

- 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: Claude Fable 5 <noreply@anthropic.com>

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

@@ -4174,6 +4174,7 @@ public class CuasMotion {
 			QuadCLT       master_CLT,
 			QuadCLT       ref_scene,
 			QuadCLT       quadCLT_main,
+			QuadCLT []    scenes,        // already-spawned per-scene instances (may be null) // By Claude on 07/05/2026
 			boolean       save_stacks,
 			int           threadsMax,
 			int           debugLevel) {
@@ -4203,9 +4204,21 @@ public class CuasMotion {
 				debugLevel,               // int           debugLevel
 				true);                    // boolean       keep_averages: average offset = 0, average scale = 1.0
 		if (ab != null) {
+			// Apply to the ALREADY-SPAWNED scene instances too: prepareFpixels creates them
+			// BEFORE this step with the pre-calibration template values, so without this the
+			// SAME run's measurements still condition with stale photometric (POSE-09: 1470-
+			// count per-sensor sky spread vs the 17-count calibrated state; the recalibrated
+			// values live only in the ref INTERFRAME + memory unless the main config is saved
+			// after a calib-ON run). By Claude on 07/05/2026.
+			final int num_extra = (scenes != null) ? scenes.length : 0;
+			final QuadCLT [] apply_to = new QuadCLT [3 + num_extra];
+			apply_to[0] = master_CLT;
+			apply_to[1] = ref_scene;
+			apply_to[2] = quadCLT_main;
+			for (int i = 0; i < num_extra; i++) apply_to[3 + i] = scenes[i]; // nulls are skipped
 			applyLwirLinearCalibration(
 					phys,                                            // QuadCLT    phys_scene
-					new QuadCLT [] {master_CLT, ref_scene, quadCLT_main}, // QuadCLT [] apply_to (in-memory)
+					apply_to,                                        // QuadCLT [] apply_to (in-memory)
 					ref_scene,                                       // QuadCLT    save_scene -> INTERFRAME corr-xml
 					ab[0],                                           // double []  a,
 					ab[1],                                           // double []  b,

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

@@ -141,6 +141,36 @@ public class CuasConditioning {
 		}
 	}
 
+	/**
+	 * Pure data-domain appropriation kernel for the BORROWED center CLT: subtract
+	 * level*pattern per TD point, NaN-aware (only where both terms are defined). Knows
+	 * NOTHING of QuadCLT/GPU - the caller (CuasRT initialization, the borrow boundary)
+	 * extracts the arrays and stores the result back. Returns a NEW array; the input is
+	 * not modified. By Claude on 07/05/2026, per Andrey's clean-method ruling.
+	 * @param fclt    borrowed center CLT (single merged-sensor slice, tile-major TD points)
+	 * @param pattern CLT of a uniform 1.0 image over the same task tiles (NaN elsewhere)
+	 * @param level   DC level to subtract (counts)
+	 * @return zeroed copy of fclt (fclt - level*pattern where both defined)
+	 */
+	public static float [] zeroDcClt(
+			final float [] fclt,
+			final float [] pattern,
+			final double   level) {
+		final float [] zeroed = fclt.clone();
+		final int len = Math.min(zeroed.length, pattern.length);
+		int n_off = 0;
+		for (int i = 0; i < len; i++) {
+			final float p = pattern[i];
+			if (!Float.isNaN(p) && !Float.isNaN(zeroed[i])) {
+				zeroed[i] -= (float) (level * p);
+				n_off++;
+			}
+		}
+		System.out.println("CuasConditioning.zeroDcClt(): CLT offset by "+level+
+				" over "+n_off+" TD points");
+		return zeroed;
+	}
+
 	/**
 	 * The A2/RT ingest: read a scene's RAW /jp4/ source, condition it with the CURRENT
 	 * calibration (curt_calib-updated lwir scales/offsets/scales2 + per-pixel FPN from the

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

@@ -442,116 +442,6 @@ public class CuasPoseRT {
 		return com.elphel.imagej.gpu.GPUTileProcessor.DTT_SIZE;
 	}
 
-	/**
-	 * Appropriate the borrowed center reference: subtract the DC level from the
-	 * reference CLT already uploaded to the GPU, so it matches the zero-sky conditioned
-	 * scenes (the MCLT has no clean DC/AC separation - a DC constant spreads over many
-	 * TD points and costs float32 mantissa bits; LWIR is ADDITIVE: day/night and seasons
-	 * shift the level, they do not scale it - the borrowed center reflects its own
-	 * footage vintage).
-	 * Level: curt.dc_center; 0 = AUTO - median of the top (sky) half of the reference
-	 * buffer render itself (the exact data being zeroed; the borrowed center average
-	 * image is NOT available in the pose flow), then ADOPTED into curt.dc_center
-	 * (persisted on the next configuration save - borrowable later, like the
-	 * photometric calibration).
-	 * Mechanics: the CLT of a UNIFORM image (the DC pattern - identical for every
-	 * converted tile) is obtained through the existing back-propagation convert
-	 * (setImageCenter + no_kernels + use_center_image, the CorrectionFPN recipe), then
-	 * fclt_zeroed = fclt - level*pattern is re-uploaded to all reference slots. Only the
-	 * task tiles get the pattern (erase=NaN elsewhere) - sufficient: the correlation
-	 * reads task tiles only. Failure-safe: any missing piece leaves the reference as-is.
-	 * By Claude on 07/05/2026, from Andrey's design.
-	 */
-	public static void appropriateCenterDC(
-			final CLTParameters clt_parameters,
-			final QuadCLT       center_CLT,
-			final TpTask []     tp_tasks_center,
-			final float []      fclt0,
-			final int           debugLevel) {
-		final GpuQuad gpuQuad = center_CLT.getGPUQuad();
-		double level = clt_parameters.curt.dc_center;
-		if (level == 0.0) { // auto: median of the top (sky) half of the reference buffer render
-			// Level from the reference render ITSELF (the exact data being zeroed):
-			// getCenterAverage() is null in the pose flow, which silently no-op'd the
-			// appropriation (composite virtual sky stayed at the raw center level).
-			// The reference CLT was just uploaded by setReferenceGPU. By Claude on 07/05/2026.
-			final float [] apx = com.elphel.imagej.cuas.CuasMotion.perSensorImagesFromTD(gpuQuad, true)[0];
-			if (apx == null) {
-				System.out.println("appropriateCenterDC(): reference render unavailable - reference NOT offset");
-				return;
-			}
-			final int width = gpuQuad.getImageWidth();     // valid after the imclt above
-			final int top_pix = (gpuQuad.getImageHeight() / 2) * width;
-			final float [] samples = new float [top_pix];
-			int n = 0;
-			for (int i = 0; i < top_pix; i++) if (!Float.isNaN(apx[i])) samples[n++] = apx[i];
-			if (n == 0) {
-				System.out.println("appropriateCenterDC(): reference render all-NaN in the sky half - reference NOT offset");
-				return;
-			}
-			Arrays.sort(samples, 0, n);
-			level = samples[n/2];
-			clt_parameters.curt.dc_center = level; // adopt: persisted on the next config save
-			System.out.println("appropriateCenterDC(): AUTO center DC level = "+level+
-					" (median of the sky half of the reference buffer render), adopted into curt.dc_center");
-		}
-		// the DC pattern: CLT of a uniform image through the back-propagation convert
-		final int [] wh = center_CLT.getGeometryCorrection().getSensorWH();
-		final double [][] saved_center = center_CLT.getImageCenter();
-		float [] pattern = null;
-		try {
-			final double [][] uniform = new double [][] {new double [wh[0]*wh[1]]};
-			Arrays.fill(uniform[0], 1.0);
-			center_CLT.setImageCenter(uniform);
-			final ImageDtt image_dtt = new ImageDtt(
-					center_CLT.getNumSensors(),
-					clt_parameters.transform_size,
-					clt_parameters.img_dtt,
-					center_CLT.isAux(),
-					center_CLT.isMonochrome(),
-					center_CLT.isLwir(),
-					clt_parameters.getScaleStrength(center_CLT.isAux()),
-					center_CLT.getGPU());
-			image_dtt.preSetReferenceTD( // tasks + offsets, no convert
-					clt_parameters.img_dtt,
-					tp_tasks_center,
-					true,                       // keep_tiles_offsets
-					clt_parameters.gpu_sigma_r,
-					clt_parameters.gpu_sigma_b,
-					clt_parameters.gpu_sigma_g,
-					clt_parameters.gpu_sigma_m,
-					debugLevel);
-			image_dtt.execConvertDirect(
-					false,                      // use_reference_buffer: SCENE buffer (scratch)
-					null,                       // wh
-					1,                          // erase_clt: NaN outside tasks
-					true,                       // no_kernels
-					true);                      // use_center_image (uniform)
-			pattern = gpuQuad.getCltData(false)[0];
-		} catch (Exception e) {
-			System.out.println("appropriateCenterDC(): DC-pattern conversion FAILED ("+e.getMessage()+
-					") - reference NOT offset");
-			pattern = null;
-		} finally {
-			center_CLT.setImageCenter(saved_center); // never leave back-propagate mode on
-		}
-		if (pattern == null) return;
-		final float [] fclt_zeroed = fclt0.clone();
-		int n_off = 0;
-		for (int i = 0; i < fclt_zeroed.length; i++) {
-			final float p = pattern[i];
-			if (!Float.isNaN(p) && !Float.isNaN(fclt_zeroed[i])) {
-				fclt_zeroed[i] -= (float) (level * p);
-				n_off++;
-			}
-		}
-		for (int ncam = 0; ncam < center_CLT.getNumSensors(); ncam++) {
-			gpuQuad.setCltData(ncam, fclt_zeroed, true); // reference buffer, all slots (merge_channels convention)
-		}
-		System.out.println("appropriateCenterDC(): reference CLT offset by "+level+
-				" over "+n_off+" TD points (task tiles)");
-	}
-
 	/**
 	 * Phase B lean per-scene fit: the measure<->solve cycle with leanMeasure() as the
 	 * measurement engine and the same IntersceneLma solver/exit rules as the oracle
@@ -777,13 +667,10 @@ public class CuasPoseRT {
 				mb_max_gain,      // double             mb_max_gain,
 				null,             // double [][]        mb_vectors (center does not move)
 				debugLevel);      // int                debug_level
-		// APPROPRIATE the borrowed center: offset the reference CLT so it matches the
-		// zero-sky conditioned scenes (curt.dc_center; 0 = auto from the borrowed center
-		// average, adopted for persistence). Firewall: the borrowed data is zeroed ONCE
-		// here at the boundary - nothing downstream compensates again. Failure-safe: any
-		// missing piece leaves the reference unchanged (a warning, not a break).
-		// By Claude on 07/05/2026, from Andrey's design.
-		appropriateCenterDC(clt_parameters, center_CLT, tp_tasks_center[0], fclt[0], debugLevel);
+		// The borrowed center arrives ALREADY APPROPRIATED (zero-DC, in memory) from
+		// CuasRT.appropriateCenter() - the borrow boundary at RT initialization; the
+		// getCenterClt()/setReferenceGPU above therefore uploaded the zeroed reference.
+		// Nothing to compensate here. By Claude on 07/05/2026, per Andrey's ruling.
 
 		// ---- Stored poses (comparison truth + seed) ----
 		final ErsCorrection ers_center = center_CLT.getErsCorrection();

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

+/**
+ ** CuasRT.java - the single entry point of the CUAS RT (real-time) mode
+ **
+ ** Copyright (C) 2026 Elphel, Inc.
+ **
+ ** -----------------------------------------------------------------------------**
+ **
+ **  CuasRT.java is free software: you can redistribute it and/or modify
+ **  it under the terms of the GNU General Public License as published by
+ **  the Free Software Foundation, either version 3 of the License, or
+ **  (at your option) any later version.
+ **
+ **  This program is distributed in the hope that it will be useful,
+ **  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ **  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ **  GNU General Public License for more details.
+ **
+ **  You should have received a copy of the GNU General Public License
+ **  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ ** -----------------------------------------------------------------------------**
+ **
+ */
+package com.elphel.imagej.cuas.rt;
+
+import java.util.Arrays;
+
+import com.elphel.imagej.cuas.CuasMotion;
+import com.elphel.imagej.cuas.CuasRanging;
+import com.elphel.imagej.gpu.GpuQuad;
+import com.elphel.imagej.gpu.TpTask;
+import com.elphel.imagej.ims.UasLogReader;
+import com.elphel.imagej.cameras.CLTParameters;
+import com.elphel.imagej.tileprocessor.ImageDtt;
+import com.elphel.imagej.tileprocessor.Interscene;
+import com.elphel.imagej.tileprocessor.OpticalFlow;
+import com.elphel.imagej.tileprocessor.QuadCLT;
+import com.elphel.imagej.tileprocessor.TwoQuadCLT;
+
+import ij.ImagePlus;
+
+/**
+ * The SINGLE entry point of the CUAS RT mode. OpticalFlow.buildSeries() delegates
+ * here on (curt.en && hasCenterClt) and knows nothing else about RT.
+ *
+ * Top-level flow (keep {@link #run} READABLE - it is the map of the RT mode):
+ *   1. INITIALIZATION - transform the borrowed data (center ingest, per-scene
+ *      instances) and fix missing calibration (per-sensor photometric).
+ *   2. DIAGNOSTICS  - optional exclusive test modes (rend_test / pose_test /
+ *      cond_test). They REPLACE the production run and return; they must never
+ *      leak into the production flow nor grow the top method.
+ *   3. PRODUCTION   - the per-input(scene) processing loop and target detection.
+ *      MVP target shape: for each input scene, a multi-threaded read of the 16
+ *      sensor /jp4/*.tiff (or their hardware-stream equivalents later) ->
+ *      CuasConditioning -> GPU -> pose -> detection. Today the detection still
+ *      consumes the bulk oracle product built in INITIALIZATION - replace
+ *      per-piece without changing this top structure.
+ *
+ * Moved from OpticalFlow.buildSeries() (was inline at the curt_en branch)
+ * by Claude on 07/05/2026, per Andrey's structure ruling.
+ */
+public class CuasRT {
+
+	/** See the class comment: initialization -> optional diagnostics -> production. */
+	public static void run(
+			final CLTParameters clt_parameters,
+			final QuadCLT       master_CLT,   // virtual "-CENTER" (borrowed-data owner)
+			final QuadCLT []    quadCLTs,     // per-scene instances (built during initialization)
+			final QuadCLT       quadCLT_main, // top-menu parameter-transfer instance / new-instance template
+			final int           ref_index,
+			final UasLogReader  uasLogReader,
+			final boolean       batch_mode,
+			final int           debugLevel) {
+		System.out.println("===== Running CUAS RT detection (curt_en). =====");
+		// ---- 1. INITIALIZATION: borrowed data + calibration ----
+		final CuasRanging cuasRanging = new CuasRanging(
+				clt_parameters, // CLTParameters     clt_parameters,
+				master_CLT,     // QuadCLT           center_CLT,
+				quadCLTs,       // QuadCLT []        scenes,
+				debugLevel);    // int               debugLevel
+		final ImagePlus imp_targets = ingest(cuasRanging);
+		calibratePhotometric(clt_parameters, master_CLT, quadCLTs, quadCLT_main, ref_index, debugLevel);
+		appropriateCenter(clt_parameters, master_CLT, debugLevel);
+		// ---- 2. DIAGNOSTICS (optional, exclusive - replace production and return) ----
+		if (diagnostics(clt_parameters, master_CLT, quadCLTs, debugLevel)) {
+			return;
+		}
+		// ---- 3. PRODUCTION: per-scene processing + target detection ----
+		detect(clt_parameters, cuasRanging, master_CLT, imp_targets, uasLogReader, batch_mode, debugLevel);
+	}
+
+	/**
+	 * Borrowed-data ingest. Today: the GPU oracle generator CuasRanging.prepareFpixels()
+	 * (explicit here, CUDA-sensitive - may be incompatible with a future CUDA; the result
+	 * is a plain ImagePlus handed to the CUDA-free detection). It also builds the per-scene
+	 * QuadCLT instances = the borrowed-calibration source. MVP replacement: per-scene raw
+	 * /jp4/ ingest (CuasConditioning.conditionSceneToGpu) inside the production loop, with
+	 * only the center borrow remaining here. By Claude on 06/24/2026 (moved 07/05/2026).
+	 */
+	private static ImagePlus ingest(final CuasRanging cuasRanging) {
+		return cuasRanging.prepareFpixels();
+	}
+
+	/**
+	 * Per-sensor photometric (re)calibration (curt.calib): fit a+b*x over safe (weak/far)
+	 * tiles, fold into the 16+16 lwir offsets/scales, apply in memory (master_CLT +
+	 * reference scene + quadCLT_main + the ALREADY-SPAWNED per-scene instances) and save
+	 * the reference scene's INTERFRAME corr-xml. Idempotent (a~0, b~1 when already
+	 * calibrated). NOTE: the recalibrated values persist across sessions only via the
+	 * ref INTERFRAME and a top-menu configuration save after a calib-ON run - a stale
+	 * main config silently re-imposes the old photometric on every fresh session
+	 * (POSE-09 lesson: 1470-count per-sensor sky spread vs 17 calibrated).
+	 * By Claude on 07/03/2026 (moved 07/05/2026).
+	 */
+	private static void calibratePhotometric(
+			final CLTParameters clt_parameters,
+			final QuadCLT       master_CLT,
+			final QuadCLT []    quadCLTs,
+			final QuadCLT       quadCLT_main,
+			final int           ref_index,
+			final int           debugLevel) {
+		if (!clt_parameters.curt.calib) {
+			return;
+		}
+		CuasMotion.rtPhotometricCalibration(
+				clt_parameters,       // CLTParameters clt_parameters,
+				master_CLT,           // QuadCLT       master_CLT (combo DSI source, in-memory apply)
+				quadCLTs[ref_index],  // QuadCLT       ref_scene (photometric owner, INTERFRAME corr-xml)
+				quadCLT_main,         // QuadCLT       quadCLT_main (main config + new-instance template)
+				quadCLTs,             // QuadCLT []    scenes (already spawned by the ingest above)
+				clt_parameters.curt.cond_test, // boolean save_stacks
+				ImageDtt.THREADS_MAX, // int           threadsMax,
+				debugLevel);          // int           debugLevel
+	}
+
+	private static final double [] ZERO3 = {0.0, 0.0, 0.0};
+
+	/**
+	 * APPROPRIATE the borrowed center (the borrow boundary - the ONLY place the RT flow
+	 * transforms the borrowed QuadCLT data): offset the center CLT so it matches the
+	 * zero-sky conditioned scenes, IN MEMORY (master_CLT.setCenterClt) - everything
+	 * downstream (pose test, render, lean measure) then sees an already-zeroed center and
+	 * never compensates again. The -CLT-UPDATED disk save happens upstream of CuasRT.run,
+	 * so the zeroed copy never persists.
+	 *
+	 * Rationale (doc SS5a): the MCLT has no clean DC/AC separation - a DC constant spreads
+	 * over many TD points and costs float32 mantissa bits; LWIR is ADDITIVE (day/night and
+	 * seasons shift the level, never scale it) - the borrowed center reflects its own
+	 * footage vintage.
+	 * Level: curt.dc_center; 0 = AUTO - median of the top (sky) half of the reference
+	 * buffer render itself (the exact data being zeroed), then ADOPTED into curt.dc_center
+	 * (persisted on the next configuration save - borrowable later, like the photometric
+	 * calibration).
+	 * Mechanics: full-grid conditioned-disparity tasks (the ONE RT disparity source) ->
+	 * setReferenceGPU (raw center up, tasks built) -> AUTO level from the reference render
+	 * -> DC pattern = CLT of a UNIFORM image through the back-propagation convert
+	 * (setImageCenter on the GPU-ASSOCIATED QuadCLT + no_kernels + use_center_image, the
+	 * CorrectionFPN recipe) -> the PURE kernel CuasConditioning.zeroDcClt (knows no
+	 * QuadCLT) -> store back in memory + re-upload the reference slots. Failure-safe: any
+	 * missing piece leaves the center as-is (a warning, not a break).
+	 * By Claude on 07/05/2026, from Andrey's design (moved here from CuasPoseRT per the
+	 * borrow-boundary ruling).
+	 */
+	private static void appropriateCenter(
+			final CLTParameters clt_parameters,
+			final QuadCLT       center_CLT,
+			final int           debugLevel) {
+		final float [] fclt0 = center_CLT.getCenterClt();
+		if (fclt0 == null) {
+			System.out.println("appropriateCenter(): no center CLT - center NOT offset");
+			return;
+		}
+		final GpuQuad gpuQuad = center_CLT.getGPUQuad();
+		// full-grid tasks from the ONE conditioned disparity source (same as render/pose)
+		final boolean is_aux = center_CLT.isAux();
+		final double [] center_disparity = CuasRender.conditionDisparityCuas(
+				center_CLT.dsi[is_aux ? TwoQuadCLT.DSI_DISPARITY_AUX : TwoQuadCLT.DSI_DISPARITY_MAIN]);
+		final boolean [] all_tiles = new boolean [center_disparity.length];
+		for (int i = 0; i < all_tiles.length; i++) all_tiles[i] = !Double.isNaN(center_disparity[i]);
+		final double [][] pXpYD_center = OpticalFlow.transformToScenePxPyD(
+				null,             // final Rectangle [] extra_woi,
+				center_disparity, // final double []    disparity_ref,
+				ZERO3,            // final double []    scene_xyz,
+				ZERO3,            // final double []    scene_atr,
+				center_CLT,       // final QuadCLT      scene_QuadClt,
+				center_CLT);      // final QuadCLT      reference_QuadClt
+		final TpTask [][] tp_tasks_center = Interscene.setReferenceGPU(
+				clt_parameters,   // CLTParameters      clt_parameters,
+				center_CLT,       // QuadCLT            ref_scene,
+				center_disparity, // double []          ref_disparity,
+				pXpYD_center,     // double [][]        ref_pXpYD,
+				new float [][] {fclt0}, // final float [][] fclt,
+				all_tiles,        // final boolean []   selection (FULL grid - the appropriation covers every tile)
+				clt_parameters.imp.margin,            // final int margin,
+				clt_parameters.imp.mb_tau,            // double    mb_tau,
+				clt_parameters.imp.mb_max_gain_inter, // double    mb_max_gain,
+				null,             // double [][]        mb_vectors (center does not move)
+				debugLevel);      // int                debug_level
+		double level = clt_parameters.curt.dc_center;
+		if (level == 0.0) { // auto: median of the top (sky) half of the reference buffer render
+			// Level from the reference render ITSELF (the exact data being zeroed),
+			// just uploaded by setReferenceGPU above. By Claude on 07/05/2026.
+			final float [] apx = CuasMotion.perSensorImagesFromTD(gpuQuad, true)[0];
+			if (apx == null) {
+				System.out.println("appropriateCenter(): reference render unavailable - center NOT offset");
+				return;
+			}
+			final int width = gpuQuad.getImageWidth();     // valid after the imclt above
+			final int top_pix = (gpuQuad.getImageHeight() / 2) * width;
+			final float [] samples = new float [top_pix];
+			int n = 0;
+			for (int i = 0; i < top_pix; i++) if (!Float.isNaN(apx[i])) samples[n++] = apx[i];
+			if (n == 0) {
+				System.out.println("appropriateCenter(): reference render all-NaN in the sky half - center NOT offset");
+				return;
+			}
+			Arrays.sort(samples, 0, n);
+			level = samples[n/2];
+			clt_parameters.curt.dc_center = level; // adopt: persisted on the next config save
+			System.out.println("appropriateCenter(): AUTO center DC level = "+level+
+					" (median of the sky half of the reference buffer render), adopted into curt.dc_center");
+		}
+		// the DC pattern: CLT of a uniform image through the back-propagation convert.
+		// The uniform image MUST be set on the GpuQuad's ASSOCIATED QuadCLT: both backends
+		// read gpuQuad.getQuadCLT().getImageCenter() (GpuQuadJna.setBayerImages(center=true),
+		// JCuda base alike) - the CorrectionFPN recipe sets it there too. Setting it on
+		// center_CLT reads a null/stale center -> pattern ~0 -> silent no-op (POSE-09).
+		// By Claude on 07/05/2026.
+		final QuadCLT gpu_CLT = gpuQuad.getQuadCLT();
+		final int [] wh = center_CLT.getGeometryCorrection().getSensorWH();
+		final double [][] saved_center = gpu_CLT.getImageCenter();
+		float [] pattern = null;
+		try {
+			final double [][] uniform = new double [][] {new double [wh[0]*wh[1]]};
+			Arrays.fill(uniform[0], 1.0);
+			gpu_CLT.setImageCenter(uniform);
+			final ImageDtt image_dtt = new ImageDtt(
+					center_CLT.getNumSensors(),
+					clt_parameters.transform_size,
+					clt_parameters.img_dtt,
+					center_CLT.isAux(),
+					center_CLT.isMonochrome(),
+					center_CLT.isLwir(),
+					clt_parameters.getScaleStrength(center_CLT.isAux()),
+					center_CLT.getGPU());
+			image_dtt.preSetReferenceTD( // tasks + offsets, no convert
+					clt_parameters.img_dtt,
+					tp_tasks_center[0],
+					true,                       // keep_tiles_offsets
+					clt_parameters.gpu_sigma_r,
+					clt_parameters.gpu_sigma_b,
+					clt_parameters.gpu_sigma_g,
+					clt_parameters.gpu_sigma_m,
+					debugLevel);
+			image_dtt.execConvertDirect(
+					false,                      // use_reference_buffer: SCENE buffer (scratch)
+					null,                       // wh
+					1,                          // erase_clt: NaN outside tasks
+					true,                       // no_kernels
+					true);                      // use_center_image (uniform)
+			pattern = gpuQuad.getCltData(false)[0];
+		} catch (Exception e) {
+			System.out.println("appropriateCenter(): DC-pattern conversion FAILED ("+e.getMessage()+
+					") - center NOT offset");
+			pattern = null;
+		} finally {
+			gpu_CLT.setImageCenter(saved_center); // never leave back-propagate mode on
+		}
+		if (pattern == null) return;
+		// Guard against the silent-no-op class: a uniform-1.0 image converts to TD
+		// coefficients of order ~1; an (effectively) empty GPU center buffer converts to
+		// exact zeros. Warn loudly instead of "offsetting" by nothing. By Claude on 07/05/2026.
+		float pattern_max = 0f;
+		for (int i = 0; i < pattern.length; i++) {
+			final float ap = Math.abs(pattern[i]);
+			if (!Float.isNaN(ap) && (ap > pattern_max)) pattern_max = ap;
+		}
+		if (pattern_max < 1e-6) {
+			System.out.println("appropriateCenter(): DC pattern is all-zero (max |p| = "+pattern_max+
+					") - the uniform center image did not reach the GPU. Center NOT offset");
+			return;
+		}
+		final float [] fclt_zeroed = CuasConditioning.zeroDcClt(fclt0, pattern, level); // the pure kernel
+		center_CLT.setCenterClt(fclt_zeroed); // in-memory only: -CLT-UPDATED was saved upstream, raw stays on disk
+		for (int ncam = 0; ncam < center_CLT.getNumSensors(); ncam++) {
+			gpuQuad.setCltData(ncam, fclt_zeroed, true); // reference buffer, all slots (merge_channels convention)
+		}
+		System.out.println("appropriateCenter(): borrowed center CLT zeroed in memory (level "+level+
+				") - downstream consumers see the appropriated center only");
+	}
+
+	/**
+	 * Optional EXCLUSIVE diagnostic modes - each replaces the production run. Precedence
+	 * (unchanged from the OpticalFlow inline era): rend_test > pose_test > cond_test.
+	 * Keep new tests HERE - the production path and the top method must not grow.
+	 * @return true if a diagnostic ran (caller returns without production processing).
+	 */
+	private static boolean diagnostics(
+			final CLTParameters clt_parameters,
+			final QuadCLT       master_CLT,
+			final QuadCLT []    quadCLTs,
+			final int           debugLevel) {
+		if (clt_parameters.curt.rend_test) {
+			// MINIMAL RT ingest+render certification: per scene raw /jp4/ ->
+			// conditionSceneToGpu -> virtual-grid render at BORROWED stored pose + ERS
+			// rates -> -CUAS-RT-RENDER hyperstack, comparable slice-by-slice to the
+			// -CUAS-INDIVIDUAL/MERGED-CUAS-DBG oracle products. Certify/debug THIS chain
+			// first, only then the pose test (Andrey 07/05/2026). By Claude on 07/05/2026.
+			System.out.println("===== CUAS RT render test (curt_rend_test): ingest+render sequence vs oracle DBG =====");
+			CuasRender.testRenderSequence(
+					clt_parameters, // CLTParameters clt_parameters,
+					master_CLT,     // QuadCLT       center_CLT,
+					quadCLTs,       // QuadCLT []    quadCLTs,
+					debugLevel);    // int           debugLevel
+			return true;
+		}
+		if (clt_parameters.curt.pose_test) {
+			// RT pose-adjustment prototype: re-generate per-scene 3-angle poses against the
+			// virtual-center reference, ascending, prediction-seeded, single pass on the
+			// final combo DSI. Output: -POSE-RT-TEST.csv + fitted-vs-stored summary (truth =
+			// scenes_poses restored from INTERFRAME corr-xml). By Claude on 07/03/2026,
+			// from Andrey's design.
+			System.out.println("===== CUAS RT pose test (curt_pose_test): per-scene 3-angle fit vs virtual center =====");
+			CuasPoseRT.testPoseSequence(
+					clt_parameters, // CLTParameters clt_parameters,
+					master_CLT,     // QuadCLT       center_CLT,
+					quadCLTs,       // QuadCLT []    quadCLTs,
+					debugLevel);    // int           debugLevel
+			return true;
+		}
+		if (clt_parameters.curt.cond_test) {
+			// Conditioning/calibration diagnostic: raw /jp4/ baseline (no photometric/FPN/
+			// conditioning), saved as -CUAS-PERSENSOR-RAW for side-by-side compare with the
+			// conditioned -CUAS-PERSENSOR (saved by the calibration step when curt.calib is
+			// on, or rendered here otherwise). Both stacks use the same uniform sensor-domain
+			// task grid - never leftover GPU task state. By Claude on 07/01/2026,
+			// restructured 07/03/2026.
+			System.out.println("===== CUAS RT conditioning test (curt_cond_test): per-sensor average spread =====");
+			if (!clt_parameters.curt.calib) { // conditioned baseline not yet rendered by the calibration step
+				QuadCLT cond_phys = master_CLT.getGPUQuad().getQuadCLT(); // physical scene bound to the GPU
+				if (cond_phys != null) { // the actual image_data (bypass image_data_alt), same grid as raw
+					CuasMotion.perSensorFromData(clt_parameters, master_CLT, cond_phys.getOrigImageData(),
+							"-CUAS-PERSENSOR", ImageDtt.THREADS_MAX, debugLevel);
+				}
+			}
+			CuasMotion.perSensorFromRawJp4(clt_parameters, master_CLT, ImageDtt.THREADS_MAX, debugLevel);
+			// A2 step 2 validation: NaN-aware cross-sensor TD consolidation (CPU oracle of
+			// the future clt_average_sensors kernel) checked against the imclt linearity
+			// oracle: imclt(TD-average) must equal pixel-average of per-sensor imclt renders.
+			// Uses the raw-jp4 16-sensor TD just built above. By Claude on 07/05/2026.
+			CuasTD.validateConsolidation(
+					master_CLT.getGPUQuad(), // GpuQuad with the current 16-sensor TD
+					master_CLT,              // debug-stack save target (-CUAS-TDAVG-CHECK)
+					debugLevel);
+			return true;
+		}
+		return false;
+	}
+
+	/**
+	 * Production target detection (CUDA-free from here on: consumes the plain ImagePlus).
+	 * By Claude on 06/24/2026 (moved 07/05/2026).
+	 */
+	private static void detect(
+			final CLTParameters clt_parameters,
+			final CuasRanging   cuasRanging,
+			final QuadCLT       master_CLT,
+			final ImagePlus     imp_targets,
+			final UasLogReader  uasLogReader,
+			final boolean       batch_mode,
+			final int           debugLevel) {
+		cuasRanging.saveUasFlightLogCsv(uasLogReader, imp_targets); // UAS flight-log truth -> <name>-UAS_DATA.tsv (mode-0 only; needs QuadCLT pose). By Claude on 06/24/2026
+		new CuasDetectRT(
+				clt_parameters,               // CLTParameters     clt_parameters,
+				uasLogReader,                 // UasLogReader      uasLogReader,
+				imp_targets,                  // ImagePlus         imp_targets (no GPU inside CuasDetectRT)
+				master_CLT.getX3dDirectory(), // String            model_directory (outputs land like oracle)
+				master_CLT.getImageName(),    // String            core_base_name
+				master_CLT.correctionsParameters.cuasSynth, // String  cuas_synth_dir (shared, list SET; "" -> model_directory)
+				master_CLT.correctionsParameters.cuasNoise, // String  cuas_noise (inline per-level scales, list SET; "" -> sqrt default). By Claude on 06/24/2026
+				debugLevel).detectTargets(
+						clt_parameters,       // CLTParameters     clt_parameters,
+						batch_mode,           // boolean           batch_mode,
+						debugLevel);          // int               debugLevel
+	}
+}

src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java

@@ -7260,98 +7260,20 @@ java.lang.NullPointerException
 			}
 		}
 
-		// CUAS RT (our code) - coexists with the oracle CuasRanging above (separate buttons/modes, no interference).
-		// Generate the merged-CUAS stack on the GPU EXPLICITLY here (CuasRanging.prepareFpixels() uses the CUDA
-		// tile-processor kernels - may be incompatible with a future CUDA), then hand the plain ImagePlus to the
-		// CUDA-free CuasDetectRT. By Claude on 06/24/2026
+		// CUAS RT (our code) - coexists with the oracle CuasRanging above (separate buttons/modes,
+		// no interference). The ENTIRE RT mode lives in cuas.rt.CuasRT (single entry:
+		// initialization -> optional diagnostics -> production) - do not grow RT code here.
+		// By Claude on 07/05/2026, per Andrey's structure ruling.
 		if (clt_parameters.curt.en && master_CLT.hasCenterClt()) {
-			System.out.println("===== Running CUAS RT detection (curt_en). =====");
-			CuasRanging cuasRangingRT = new CuasRanging(
-					clt_parameters, // CLTParameters     clt_parameters,
-					master_CLT,     // QuadCLT           center_CLT,
-					quadCLTs,       // QuadCLT []        scenes,
-					debugLevel);
-			ImagePlus imp_targets = cuasRangingRT.prepareFpixels();      // GPU generator (explicit, CUDA-sensitive); also builds the QuadCLT instances = borrowed-calibration source
-			
-			
-			if (clt_parameters.curt.calib) {
-				// By Claude on 07/03/2026: first step of the CUAS RT processing flow - per-sensor photometric
-				// (re)calibration: fit a+b*x over safe (weak/far) tiles, fold into the 16+16 lwir offsets/scales,
-				// apply in memory (master_CLT + reference scene + quadCLT_main -> top-menu config, template for
-				// new instances) and save the reference scene's INTERFRAME corr-xml. Idempotent (a~0, b~1 when
-				// already calibrated). Debug stacks (-CUAS-PERSENSOR[-ADJ]) saved only in curt_cond_test mode.
-				CuasMotion.rtPhotometricCalibration(
-						clt_parameters,       // CLTParameters clt_parameters,
-						master_CLT,           // QuadCLT       master_CLT (combo DSI source, in-memory apply)
-						quadCLTs[ref_index],  // QuadCLT       ref_scene (photometric owner, INTERFRAME corr-xml)
-						quadCLT_main,         // QuadCLT       quadCLT_main (main config + new-instance template)
-						clt_parameters.curt.cond_test, // boolean save_stacks
-						ImageDtt.THREADS_MAX, // int           threadsMax,
-						debugLevel);          // int           debugLevel
-			}
-			if (clt_parameters.curt.rend_test) {
-				// MINIMAL RT ingest+render certification (curt_rend_test, precedence over the pose
-				// test): per scene raw /jp4/ -> conditionSceneToGpu -> virtual-grid render at
-				// BORROWED stored pose + ERS rates -> -CUAS-RT-RENDER hyperstack, comparable
-				// slice-by-slice to the -CUAS-INDIVIDUAL/MERGED-CUAS-DBG oracle products.
-				// Certify/debug THIS chain first, only then the pose test (Andrey 07/05/2026).
-				// By Claude on 07/05/2026.
-				System.out.println("===== CUAS RT render test (curt_rend_test): ingest+render sequence vs oracle DBG =====");
-				com.elphel.imagej.cuas.rt.CuasRender.testRenderSequence(
-						clt_parameters, // CLTParameters clt_parameters,
-						master_CLT,     // QuadCLT       center_CLT,
-						quadCLTs,       // QuadCLT []    quadCLTs,
-						debugLevel);    // int           debugLevel
-			} else if (clt_parameters.curt.pose_test) {
-				// RT pose-adjustment prototype phase A (curt_pose_test), runs INSTEAD of RT detection:
-				// re-generate per-scene 3-angle poses against the virtual-center reference, ascending,
-				// prediction-seeded, single pass on the final combo DSI. Output: -POSE-RT-TEST.csv +
-				// fitted-vs-stored summary (truth = scenes_poses restored from INTERFRAME corr-xml).
-				// By Claude on 07/03/2026, from Andrey's design.
-				System.out.println("===== CUAS RT pose test (curt_pose_test): per-scene 3-angle fit vs virtual center =====");
-				com.elphel.imagej.cuas.rt.CuasPoseRT.testPoseSequence(
-						clt_parameters, // CLTParameters clt_parameters,
-						master_CLT,     // QuadCLT       center_CLT,
-						quadCLTs,       // QuadCLT []    quadCLTs,
-						debugLevel);    // int           debugLevel
-			} else if (clt_parameters.curt.cond_test) {
-				// Conditioning/calibration diagnostic (curt_cond_test), runs INSTEAD of RT detection:
-				// raw /jp4/ baseline (no photometric/FPN/conditioning), saved as -CUAS-PERSENSOR-RAW for
-				// side-by-side compare with the conditioned -CUAS-PERSENSOR (saved by the calibration step when
-				// curt_calib is on, or rendered here otherwise). Both stacks use the same uniform sensor-domain
-				// task grid - never leftover GPU task state. By Claude on 07/01/2026, restructured 07/03/2026.
-				System.out.println("===== CUAS RT conditioning test (curt_cond_test): per-sensor average spread =====");
-				if (!clt_parameters.curt.calib) { // conditioned baseline not yet rendered by the calibration step
-					QuadCLT cond_phys = master_CLT.getGPUQuad().getQuadCLT(); // physical scene bound to the GPU
-					if (cond_phys != null) { // the actual image_data (bypass image_data_alt), same grid as raw
-						CuasMotion.perSensorFromData(clt_parameters, master_CLT, cond_phys.getOrigImageData(),
-								"-CUAS-PERSENSOR", ImageDtt.THREADS_MAX, debugLevel);
-					}
-				}
-				CuasMotion.perSensorFromRawJp4(clt_parameters, master_CLT, ImageDtt.THREADS_MAX, debugLevel);
-				// A2 step 2 validation: NaN-aware cross-sensor TD consolidation (CPU oracle of the
-				// future clt_average_sensors kernel) checked against the imclt linearity oracle:
-				// imclt(TD-average) must equal pixel-average of per-sensor imclt renders.
-				// Uses the raw-jp4 16-sensor TD just built above. By Claude on 07/05/2026.
-				com.elphel.imagej.cuas.rt.CuasTD.validateConsolidation(
-						master_CLT.getGPUQuad(), // GpuQuad with the current 16-sensor TD
-						master_CLT,              // debug-stack save target (-CUAS-TDAVG-CHECK)
-						debugLevel);
-			} else {
-				cuasRangingRT.saveUasFlightLogCsv(uasLogReader, imp_targets); // UAS flight-log truth -> <name>-UAS_DATA.tsv (mode-0 only; needs QuadCLT pose). By Claude on 06/24/2026
-				new CuasDetectRT(
-						clt_parameters,               // CLTParameters     clt_parameters,
-						uasLogReader,                 // UasLogReader      uasLogReader,
-						imp_targets,                  // ImagePlus         imp_targets (no GPU inside CuasDetectRT)
-						master_CLT.getX3dDirectory(), // String            model_directory (outputs land like oracle)
-						master_CLT.getImageName(),    // String            core_base_name
-						master_CLT.correctionsParameters.cuasSynth, // String  cuas_synth_dir (shared, list SET; "" -> model_directory)
-						master_CLT.correctionsParameters.cuasNoise, // String  cuas_noise (inline per-level scales, list SET; "" -> sqrt default). By Claude on 06/24/2026
-						debugLevel).detectTargets(
-								clt_parameters,       // CLTParameters     clt_parameters,
-								batch_mode,           // boolean           batch_mode,
-								debugLevel);          // int               debugLevel
-			}
+			com.elphel.imagej.cuas.rt.CuasRT.run(
+					clt_parameters, // CLTParameters clt_parameters,
+					master_CLT,     // QuadCLT       master_CLT (virtual "-CENTER", borrowed-data owner)
+					quadCLTs,       // QuadCLT []    quadCLTs (per-scene instances)
+					quadCLT_main,   // QuadCLT       quadCLT_main (top-menu template)
+					ref_index,      // int           ref_index,
+					uasLogReader,   // UasLogReader  uasLogReader,
+					batch_mode,     // boolean       batch_mode,
+					debugLevel);    // int           debugLevel
 		}
 
 		if (generate_mapped || reuse_video) { // modifies combo_dsn_final ?