CLAUDE: CuasRender MB compensation + conditionSceneToGpuCuas motion wrapper (ERS omegas/velocities)

Per Andrey: of the 3 expected render-vs-oracle mismatch causes, the legitimate
one is the better photometric calibration; the other two - ERS and motion
blur - must be implemented in the RT chain:

- ERS: NEW CuasConditioning.conditionSceneToGpuCuas(scene, cfg, omegas,
  velocities, ...) - the ONE place per-scene motion enters the ingest. Sets
  the scene ERS rates (fully-preserved ErsCorrection path); velocities =
  provision ({0,0,0}/null for the rotation-only camera). In production the
  omegas come analytically from wobble radius + RPM; the GPU corr_vector
  imu_rot/imu_move feed is the future upgrade (after the double-application
  check vs CPU pXpYD ERS). Legacy conditionSceneToGpu delegates (unchanged
  behavior for the pose loop).
- MB: renderSceneVirtual takes mb_vectors/mb_tau/mb_max_gain; when enabled
  uses the ORACLE machinery (setInterTasksMotionBlur two-task-set +
  interCorrTDMotionBlur double convert: positive original + negative shifted
  scale pair summing to 1, ratio from 1-pix-time/tau, offset stretched when
  scales would exceed mb_max_gain). No erased re-convert in MB mode (would
  destroy the accumulation) - comparisons must mask to task tiles.
- testRenderSequence: MB gated by imp.mb_en (matching the oracle DBG
  products: ON -> compare vs MB DBG, OFF -> vs -NOMB DBG); vectors from the
  same OpticalFlow.getMotionBlur at borrowed pose + stored rates; ingest via
  the new wrapper.

Verified: mvn -DskipTests clean package OK.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

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

@@ -129,6 +129,46 @@ public class CuasConditioning {
 			final Config  cfg,
 			final int     threadsMax,
 			final int     debugLevel) {
+		return conditionSceneToGpuCuas(scene, cfg, null, null, threadsMax, debugLevel);
+	}
+
+	/**
+	 * CUAS wrapper: the ONE place where per-scene MOTION enters the RT ingest (Andrey's
+	 * design 2026-07-05). Sets the scene's ERS rates (when given) before the ingest so the
+	 * downstream grid transform (transformToScenePxPyD -> ErsCorrection, the fully-preserved
+	 * RGB-proven path) applies the rolling-shutter correction; omegas==null &&
+	 * velocities==null leaves the scene's current ERS state untouched (legacy behavior).
+	 * For CUAS: omegas from the wobble radius + rotation RPM (analytic, per scene phase);
+	 * velocities - PROVISION only, pass {0,0,0} (or null) for the rotation-only camera.
+	 * FUTURE (GPU migration): the same omegas/velocities feed the GPU corr_vector
+	 * imu_rot/imu_move (get_tiles_offsets has per-sensor ERS support, currently dormant) -
+	 * to be enabled after verifying no double-application against the CPU pXpYD ERS.
+	 * By Claude on 07/05/2026, from Andrey's design.
+	 * @param omegas     angular rates {az, tilt, roll} rad/s, scene-vs-virtual-center
+	 *                   relative (wobble-scale; the constant-rotation part cancels against
+	 *                   the co-rotating center) - or null (with velocities null: keep state)
+	 * @param velocities linear rates {vx, vy, vz} m/s (provision; null/{0,0,0} for CUAS)
+	 */
+	public static boolean conditionSceneToGpuCuas(
+			final QuadCLT   scene,
+			final Config    cfg,
+			final double [] omegas,
+			final double [] velocities,
+			final int       threadsMax,
+			final int       debugLevel) {
+		if ((omegas != null) || (velocities != null)) {
+			scene.getErsCorrection().setErsDt(
+					(velocities != null) ? velocities : new double [3],
+					(omegas != null)     ? omegas     : new double [3]);
+		}
+		return conditionSceneToGpuInner(scene, cfg, threadsMax, debugLevel);
+	}
+
+	private static boolean conditionSceneToGpuInner(
+			final QuadCLT scene,
+			final Config  cfg,
+			final int     threadsMax,
+			final int     debugLevel) {
 		final double [][][] data = CuasMotion.readRawImageData(scene, threadsMax, debugLevel);
 		if (data == null) {
 			return false;