CLAUDE: rung C3 - freeze per-scene conditioning, light prepare cycles 2+

Design 3-A4i rung C3 (native tile_processor_gpu HEAD): the cycle-1 resident
prepare result carries the FROZEN conditioning; later cycles of the same
scene run a light prepare (fresh measured offsets + fx/J at the moving pose;
weights/eigen/selection/pull/reg/pure_weight untouched). Rulings (Andrey
07/17): eigen freezes WITH the weights (same trust-in-tile nature); a
frozen-selected tile with no fresh valid peak abstains (y=fx, zero
residual); reg weights + pure_weight freeze from cycle 1. Semantic gain:
every cycle optimizes the SAME objective - conditioning no longer wobbles
with per-cycle measurement noise. Provider/GpuQuad/GpuQuadJna gain a light
flag; the per-scene instance naturally scopes the freeze.
Gates: mvn package+test PASS; Stage0 36/36; native suite incl. new LIGHT
bit-exact test PASS.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

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

@@ -1088,14 +1088,14 @@ public class CuasPoseRT {
 		// packed-index slot/shift are CUAS host policy. By Claude on 07/17/2026.
 		intersceneLma.setPoseLmaPrepareProvider((refCam, sceneCam, refXyz, refAtr,
 				sceneXyz, sceneAtr, centers, numTiles, useEigen, eigMinSqrt, eigMaxSqrt,
-				minConfidence, sameWeights, pullTargets, paramRegweights, capture) -> {
+				minConfidence, sameWeights, pullTargets, paramRegweights, light, capture) -> {
 			final IntersceneLmaFloat.PrepareResidentResult result =
 					lmaGpu.execPoseLmaPrepareResident(
 							refCam, sceneCam, refXyz, refAtr, sceneXyz, sceneAtr, centers,
-							numTiles, // rung C2: null camera/centers = keep resident // By Claude on 07/17/2026
+							numTiles, // rung C2: null camera/centers = keep resident; C3: light = frozen conditioning // By Claude on 07/17/2026
 							0xff, GPUTileProcessor.CORR_NTILE_SHIFT,
 							useEigen, eigMinSqrt, eigMaxSqrt, minConfidence, sameWeights,
-							pullTargets, paramRegweights, capture);
+							pullTargets, paramRegweights, light, capture);
 			if ((result != null) && !pose_prepare_path_reported) {
 				pose_prepare_path_reported = true;
 				System.out.println("CuasPoseRT: resident CUDA prepareLMA active "+

src/main/java/com/elphel/imagej/gpu/GpuQuad.java

@@ -2979,6 +2979,7 @@ public class GpuQuad{ // quad camera description
 			boolean same_weights,
 			float [] pull_targets,
 			float [] param_regweights,
+			boolean light, // rung C3 // By Claude on 07/17/2026
 			boolean capture) {
 		return null;
 	}

src/main/java/com/elphel/imagej/gpu/jna/GpuQuadJna.java

@@ -575,11 +575,12 @@ public class GpuQuadJna extends GpuQuad {
             final boolean sameWeights,
             final float[] pullTargets,
             final float[] paramRegweights,
+            final boolean light, // rung C3: frozen conditioning, fresh measured offsets only // By Claude on 07/17/2026
             final boolean capture) {
-        if ((numTiles <= 0) ||
+        if ((numTiles <= 0) || (light && capture) ||
                 ((centers != null) && (centers.length != 3 * numTiles)) ||
-                (pullTargets == null) || (pullTargets.length != IntersceneLmaFloat.NUM_PARAMS) ||
-                (paramRegweights == null) || (paramRegweights.length != IntersceneLmaFloat.NUM_PARAMS)) {
+                (!light && ((pullTargets == null) || (pullTargets.length != IntersceneLmaFloat.NUM_PARAMS) ||
+                (paramRegweights == null) || (paramRegweights.length != IntersceneLmaFloat.NUM_PARAMS)))) {
             throw new IllegalArgumentException("GpuQuadJna.execPoseLmaPrepareResident: inconsistent inputs");
         }
         final int numValues = IntersceneLmaFloat.NUM_COMPONENTS * numTiles +
@@ -613,11 +614,17 @@ public class GpuQuadJna extends GpuQuad {
                 useEigen ? 1 : 0, eigMinSqrt, eigMaxSqrt,
                 minConfidence, sameWeights ? 1 : 0,
                 pullTargets, paramRegweights,
+                light ? 1 : 0,
                 prepResult, capture ? 1 : 0, outY, outWeights, outEigen);
         if (rc != 0) {
             throw new IllegalStateException("GpuQuadJna.execPoseLmaPrepareResident rc="+rc+": "+
                     lib.tp_last_error());
         }
+        if (light) { // rung C3: conditioning + compact result frozen from cycle 1
+            return new IntersceneLmaFloat.PrepareResidentResult(
+                    numTiles, true, 0, 0.0f, 0.0f, 0.0f,
+                    new float[IntersceneLmaFloat.NUM_PARAMS], null, null, null);
+        }
         return new IntersceneLmaFloat.PrepareResidentResult(
                 numTiles,
                 prepResult[0] != 0.0f,

src/main/java/com/elphel/imagej/gpu/jna/TpJna.java

@@ -179,6 +179,7 @@ public interface TpJna extends Library {
                                       int useEigen, float eigMinSqrt, float eigMaxSqrt,
                                       float minConfidence, int sameWeights,
                                       float[] pullTargets, float[] paramRegweights,
+                                      int light, // rung C3: 1 = frozen conditioning, fresh y only // By Claude on 07/17/2026
                                       float[] prepResult, int capture,
                                       float[] outY, float[] outWeights, float[] outEigen);
     /** Deterministic double normal-equation products for the lean pose LMA.

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

@@ -494,6 +494,11 @@ public class IntersceneLma {
 		// [19,20]. The one-shot oracle cycle (pose_lma_debug>=1, first prepare) runs
 		// the FULL legacy path and compares the captured buffers at the end.
 		// By Claude on 07/17/2026.
+		// Rung C3: the cycle-1 result carries the FROZEN conditioning (weights/
+		// eigen/selection/pull/reg/pure_weight) - later cycles of the same scene
+		// run a LIGHT prepare (fresh measured offsets + fx only). The instance is
+		// per-scene, so this naturally resets per scene. By Claude on 07/17/2026.
+		final IntersceneLmaFloat.PrepareResidentResult frozen_prepare = poseResidentPrepare;
 		poseResidentPrepare = null;
 		boolean lean_pose_shape = (num_components == 2) &&
 				(par_indices.length == IntersceneLmaFloat.NUM_PARAMS);
@@ -507,7 +512,7 @@ public class IntersceneLma {
 		if ((poseLmaPrepareProvider != null) && lean_pose_shape && (vector_XYSDS != null) &&
 				(reliable_ref == null) && !prepare_capture) {
 			if (residentPrepare(eigen, eig_max_sqrt, eig_min_sqrt, min_confidence,
-					same_weights, param_regweights, false)) {
+					same_weights, param_regweights, frozen_prepare, false)) {
 				weights = null;  // resident-owned; the steps run with no per-step H2D
 				y_vector = null;
 				if (prof_sink != null) prof_sink.add(PROF_PREP_SETUP, System.nanoTime() - prof_t0);
@@ -614,7 +619,7 @@ public class IntersceneLma {
 		// captured buffers bit-exactly. By Claude on 07/17/2026.
 		if (prepare_capture) {
 			if (residentPrepare(eigen, eig_max_sqrt, eig_min_sqrt, min_confidence,
-					same_weights, param_regweights, true) &&
+					same_weights, param_regweights, null, true) &&
 					(poseResidentPrepare.capturedY != null)) {
 				final float [] pull = new float [IntersceneLmaFloat.NUM_PARAMS];
 				final float [] regw = new float [IntersceneLmaFloat.NUM_PARAMS];
@@ -2036,6 +2041,7 @@ public class IntersceneLma {
 				boolean useEigen, float eigMinSqrt, float eigMaxSqrt,
 				float minConfidence, boolean sameWeights,
 				float [] pullTargets, float [] paramRegweights,
+				boolean light, // rung C3: frozen conditioning, fresh measured offsets only // By Claude on 07/17/2026
 				boolean capture);
 	}
 	private PoseLmaPrepareProvider poseLmaPrepareProvider = null;
@@ -2072,8 +2078,10 @@ public class IntersceneLma {
 			final double      min_confidence,
 			final boolean     same_weights,
 			final double []   param_regweights,
+			final IntersceneLmaFloat.PrepareResidentResult frozen, // rung C3: non-null = cycle-1 conditioning to reuse (light) // By Claude on 07/17/2026
 			final boolean     capture) {
 		if (poseLmaPrepareProvider == null) return false;
+		final boolean lightPrepare = (frozen != null) && !capture;
 		final double [] full_vector = getFullVector(parameters_vector);
 		final ErsCorrection ers_ref =   scenesCLT[0].getErsCorrection();
 		final ErsCorrection ers_scene = scenesCLT[1].getErsCorrection();
@@ -2112,12 +2120,16 @@ public class IntersceneLma {
 			ers_scene.setupERS();
 			poseResidentSceneCamera = IntersceneLmaFloat.Camera.capture(ers_scene);
 		}
-		final float [] pull = new float [IntersceneLmaFloat.NUM_PARAMS];
-		final float [] regw = new float [IntersceneLmaFloat.NUM_PARAMS];
-		for (int par = 0; par < IntersceneLmaFloat.NUM_PARAMS; par++) {
-			pull[par] = (float) ((parameters_pull != null) ?
-					parameters_pull[par] : parameters_vector[par]); // no pull = zero residual rows
-			regw[par] = (float) param_regweights[par_indices[par]];
+		float [] pull = null;
+		float [] regw = null;
+		if (!lightPrepare) { // rung C3: pull/reg are part of the frozen conditioning
+			pull = new float [IntersceneLmaFloat.NUM_PARAMS];
+			regw = new float [IntersceneLmaFloat.NUM_PARAMS];
+			for (int par = 0; par < IntersceneLmaFloat.NUM_PARAMS; par++) {
+				pull[par] = (float) ((parameters_pull != null) ?
+						parameters_pull[par] : parameters_vector[par]); // no pull = zero residual rows
+				regw[par] = (float) param_regweights[par_indices[par]];
+			}
 		}
 		final IntersceneLmaFloat.PrepareResidentResult result = poseLmaPrepareProvider.calculate(
 				newSequence ? poseSeqRefCamera : null,
@@ -2127,12 +2139,18 @@ public class IntersceneLma {
 				newSequence ? poseSeqCenters : null,
 				macrotile_centers.length, (eigen_src != null),
 				(float) eig_min_sqrt, (float) eig_max_sqrt,
-				(float) min_confidence, same_weights, pull, regw, capture);
+				(float) min_confidence, same_weights, pull, regw, lightPrepare, capture);
 		if ((result == null) || !result.valid) return false;
-		poseResidentPrepare = result;
-		pure_weight = result.pureWeight;
-		num_defined = result.numMeas;
-		sum_weights = result.sumWRaw;
+		if (lightPrepare) {
+			// Rung C3: keep the cycle-1 compact result (pure_weight/num_meas/reg
+			// stay authoritative for the whole scene). By Claude on 07/17/2026.
+			poseResidentPrepare = frozen;
+		} else {
+			poseResidentPrepare = result;
+			pure_weight = result.pureWeight;
+			num_defined = result.numMeas;
+			sum_weights = result.sumWRaw;
+		}
 		return true;
 	}