CLAUDE: CuasPoseRT phase A - RT pose-adjustment prototype (curt_pose_test)

Top-level scene iterator re-generating per-scene 3-angle poses against the
persistent virtual-center reference, RT-style: ascending time order, zero-order
prediction seeding (fit anchored to the center, prediction only warm-starts the
LMA), single pass on the final combo DSI (no refinement pass - it only existed
because disparity arrived after initial orientations offline). Measurement
engine = proven Interscene.adjustPairsLMAInterscene (reference GPU data set
once); phase B will swap it for the lean TD-average x virtual-center path with
GPU argmax+eigen kernels, keeping this iterator + CSV as the oracle.

- new cuas/rt/CuasPoseRT.testPoseSequence(): reference prep (strength>
  curt_pose_str tile selection, setReferenceGPU with center CLT), stored-pose
  seed/truth from center ErsCorrection scenes_poses, per-scene fit with 3-angle
  param_select (XYZ locked), ERS dt from pose finite differences (disable_ers),
  MB off, coast-on-failure; writes -POSE-RT-TEST.csv + fitted-vs-stored summary
- params curt_pose_test (bool) + curt_pose_str (1.0) - 6 plumbing sites
- OpticalFlow curt_en branch: curt_pose_test runs INSTEAD of detection

Build: mvn compile clean. Runtime validation pending (Eclipse/Eyesis run on
sequence 1773135476_186641, truth = re-adjusted stored poses).
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

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

@@ -1127,6 +1127,8 @@ min_str_neib_fpn	0.35
 	public boolean  curt_en =              true; // enable cuas rt calculation (not needed with a separate button)
 	public boolean  curt_calib =           false; // 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 + save (reference scene INTERFRAME corr-xml, quadCLT_main -> main config). Bypass when off. // By Claude on 07/03/2026
 	public boolean  curt_cond_test =       false; // conditioning/calibration isolation test inside the curt_en branch: build the QuadCLT instances (borrowed calibration) then print per-sensor average spread (CuasMotion.perSensorAveragesFromTD) instead of normal RT detection; well-calibrated -> 16 sensor averages match (spread ~0). // By Claude on 07/01/2026
+	public boolean  curt_pose_test =       false; // RT pose-adjustment prototype (phase A) inside the curt_en branch: re-generate per-scene 3-angle poses against the virtual-center reference, ascending, prediction-seeded (CuasPoseRT.testPoseSequence) instead of RT detection; writes -POSE-RT-TEST.csv + fitted-vs-stored summary. // By Claude on 07/03/2026
+	public double   curt_pose_str =        1.0;   // reliable-tile strength threshold over the combo-DSI strength for the pose test tile selection (1.0 ~ old getReliableTiles population). // By Claude on 07/03/2026
 	//=== LoG prefilter ===
 	public double   curt_psf_radius =      1.0;   // sensor PSF radius for LoG pre-filter
 	public double   curt_n_sigma =         4.0;   // cutoff LoG kernel array, number of sigmas
@@ -3416,6 +3418,10 @@ min_str_neib_fpn	0.35
 				"First step of the 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 and save (reference scene INTERFRAME corr-xml, quadCLT_main for the main configuration). Bypass when off.");
 		gd.addCheckbox ("CUAS RT conditioning test",                 this.curt_cond_test,
 				"Isolation test inside the curt_en branch: build QuadCLT instances (borrowed calibration), then print per-sensor average spread (CuasMotion.perSensorAveragesFromTD) instead of normal RT detection. Well-calibrated -> the 16 sensor averages match (spread ~0).");
+		gd.addCheckbox ("CUAS RT pose test",                         this.curt_pose_test, // By Claude on 07/03/2026
+				"RT pose-adjustment prototype (phase A): re-generate per-scene 3-angle poses against the virtual-center reference (ascending, prediction-seeded) instead of RT detection. Writes -POSE-RT-TEST.csv and a fitted-vs-stored summary.");
+		gd.addNumericField("Pose test reliable strength",            this.curt_pose_str, 5,7,"", // By Claude on 07/03/2026
+				"Tile selection for the pose test: combo-DSI strength threshold (1.0 gives ~ the old getReliableTiles population).");
 
 		gd.addMessage("=== LoG prefilter ===");
 		gd.addNumericField("Optical PSF radius",                     this.curt_psf_radius, 6,8,"pix",
@@ -5008,6 +5014,8 @@ min_str_neib_fpn	0.35
 		this.curt_en =                  gd.getNextBoolean();
 		this.curt_calib =               gd.getNextBoolean(); // By Claude on 07/03/2026
 		this.curt_cond_test =           gd.getNextBoolean();
+		this.curt_pose_test =           gd.getNextBoolean(); // By Claude on 07/03/2026
+		this.curt_pose_str =            gd.getNextNumber();  // By Claude on 07/03/2026
 
 		this.curt_psf_radius =          gd.getNextNumber();
 		this.curt_n_sigma =             gd.getNextNumber();
@@ -6374,6 +6382,8 @@ min_str_neib_fpn	0.35
 		properties.setProperty(prefix+"curt_en",              this.curt_en+"");             // boolean
 		properties.setProperty(prefix+"curt_calib",           this.curt_calib+"");          // boolean // By Claude on 07/03/2026
 		properties.setProperty(prefix+"curt_cond_test",       this.curt_cond_test+"");      // boolean
+		properties.setProperty(prefix+"curt_pose_test",       this.curt_pose_test+"");      // boolean // By Claude on 07/03/2026
+		properties.setProperty(prefix+"curt_pose_str",        this.curt_pose_str+"");       // double  // By Claude on 07/03/2026
 
 		properties.setProperty(prefix+"curt_psf_radius",      this.curt_psf_radius+"");     // double
 		properties.setProperty(prefix+"curt_n_sigma",         this.curt_n_sigma+"");        // double
@@ -6774,6 +6784,8 @@ min_str_neib_fpn	0.35
 		if (properties.getProperty(prefix+"curt_en")!=null)              this.curt_en=Boolean.parseBoolean(properties.getProperty(prefix+"curt_en"));
 		if (properties.getProperty(prefix+"curt_calib")!=null)           this.curt_calib=Boolean.parseBoolean(properties.getProperty(prefix+"curt_calib")); // By Claude on 07/03/2026
 		if (properties.getProperty(prefix+"curt_cond_test")!=null)       this.curt_cond_test=Boolean.parseBoolean(properties.getProperty(prefix+"curt_cond_test"));
+		if (properties.getProperty(prefix+"curt_pose_test")!=null)       this.curt_pose_test=Boolean.parseBoolean(properties.getProperty(prefix+"curt_pose_test")); // By Claude on 07/03/2026
+		if (properties.getProperty(prefix+"curt_pose_str")!=null)        this.curt_pose_str=Double.parseDouble(properties.getProperty(prefix+"curt_pose_str"));    // By Claude on 07/03/2026
 
 		if (properties.getProperty(prefix+"curt_psf_radius")!=null)      this.curt_psf_radius=Double.parseDouble(properties.getProperty(prefix+"curt_psf_radius"));
 		if (properties.getProperty(prefix+"curt_n_sigma")!=null)         this.curt_n_sigma=Double.parseDouble(properties.getProperty(prefix+"curt_n_sigma"));
@@ -9059,6 +9071,8 @@ min_str_neib_fpn	0.35
 		imp.curt_en =               this.curt_en;
 		imp.curt_calib =            this.curt_calib; // By Claude on 07/03/2026
 		imp.curt_cond_test =        this.curt_cond_test;
+		imp.curt_pose_test =        this.curt_pose_test; // By Claude on 07/03/2026
+		imp.curt_pose_str =         this.curt_pose_str;  // By Claude on 07/03/2026
 		imp.curt_psf_radius =       this.curt_psf_radius;
 		imp.curt_n_sigma =          this.curt_n_sigma;
 		// rleak0 imp.X copy removed 2026-06-20 (LReLU now LINEAR); predecessor code at git tag cuas-layer1. // By Claude on 06/20/2026

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

@@ -7289,7 +7289,19 @@ java.lang.NullPointerException
 						ImageDtt.THREADS_MAX, // int           threadsMax,
 						debugLevel);          // int           debugLevel
 			}
-			if (clt_parameters.imp.curt_cond_test) {
+			if (clt_parameters.imp.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.imp.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