CLAUDE: lean pose DEBUG: -POSE-RT-COMPOSITE hyperstack (real x virtual renders)

Per Andrey (no blind fixes - see what is going on): save the composite
(TD-averaged, grid-transformed) scenes actually correlated against the
virtual center, WITH the virtual render for comparison:

- curt.pose_img_save (checkbox "Pose test save composite scenes"):
  -POSE-RT-COMPOSITE.tiff hyperstack [t: real, virtual][z: scene] - the
  virtual-center render repeated for every scene so the component slider
  blink-compares at any z. z aligned with -POSE-RT-HYPER/-CORR2D.
- leanMeasure img_out holder: when requested, re-runs execConvertDirect
  with erase_clt=1 (NaN outside task tiles - the standard interCorrTD
  erase=-1 leaves the previous scene's tiles as ghosts in a render;
  correlation itself unaffected), then imclt renders sensor slot 0 = the
  consolidated average (last LMA cycle, converged pose).
- Virtual component = imclt of the reference buffer (what the conj-multiply
  actually sees), not a re-render from prepared data.

Observability only - processing unchanged, roll-bias symptom preserved.
Verified: mvn -DskipTests clean package OK.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

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

@@ -254,6 +254,9 @@ public class CuasPoseRT {
 	 * By Claude on 07/05/2026, from Andrey's design.
 	 * @param corr_pd_out null or length-1 holder - filled with the pixel-domain
 	 *        correlation tiles ([tile][15*15], dense grid index) for debug rendering
+	 * @param img_out null or length-1 holder - filled with the imclt render of the
+	 *        consolidated composite scene ([width*height], NaN outside task tiles);
+	 *        requesting it adds an erased re-convert + an imclt pass (debug only)
 	 * @return [3][num_pix][] {centers pXpYD, vector_XYS {dx,dy,strength}, eigen
 	 *         {e0x,e0y,l0,l1}} - the coord_motion contract of interCorrPair - or null
 	 */
@@ -269,6 +272,7 @@ public class CuasPoseRT {
 			final double []     scene_atr,
 			final int           margin,
 			final double [][][] corr_pd_out, // By Claude on 07/04/2026
+			final float [][]    img_out,     // By Claude on 07/04/2026
 			final int           debugLevel) {
 		final GpuQuad gpuQuad = center_CLT.getGPUQuad();
 		final int num_pix = pXpYD_center.length;
@@ -308,6 +312,13 @@ public class CuasPoseRT {
 				0,                              // sensor_mask_inter = 0: convert only, return before correlate
 				ImageDtt.THREADS_MAX,
 				debugLevel);
+		// DEBUG (img_out): re-convert with erase_clt=1 so non-task tiles are NaN (interCorrTD
+		// converts with erase=-1, leaving the PREVIOUS scene's tiles outside the selection -
+		// harmless for correlation, ghosts in a render). Same LPFs/tasks/offsets - identical
+		// task-tile content, only the background differs. By Claude on 07/04/2026.
+		if (img_out != null) {
+			gpuQuad.execConvertDirect(false, null, 1);
+		}
 		// 3. the CPU consolidation bridge (future clt_average_sensors kernel)
 		final float [][] fclt16 = gpuQuad.getCltData(false);
 		final float [] avg_td = CuasTD.consolidateSensorsTD(fclt16, null);
@@ -333,6 +344,12 @@ public class CuasPoseRT {
 			return null;
 		}
 		if (corr_pd_out != null) corr_pd_out[0] = corr_pd; // debug rendering (-POSE-RT-CORR2D) // By Claude on 07/04/2026
+		// DEBUG (img_out): render the composite actually correlated - sensor slot 0 holds the
+		// consolidated TD average (setCltData above); correlation did not modify the CLT buffer.
+		// By Claude on 07/04/2026.
+		if (img_out != null) {
+			img_out[0] = com.elphel.imagej.cuas.CuasMotion.perSensorImagesFromTD(gpuQuad, false)[0];
+		}
 		// 6. peak + eigen per tile (the GPU argmax+eigen kernel's Java oracle)
 		final int corr_width = 2 * GPUTileProcessorDttSize() - 1;
 		final double [][] centers =    new double [num_pix][];
@@ -393,6 +410,7 @@ public class CuasPoseRT {
 			final double []     lma_rms,        // out
 			final double [][][] coord_motion_rslt, // out [3][][]
 			final double [][][] corr_pd_out,    // null or len-1: last-cycle PD correlations // By Claude on 07/04/2026
+			final float [][]    img_out,        // null or len-1: last-cycle composite render // By Claude on 07/04/2026
 			final int           debugLevel) {
 		final IntersceneLma intersceneLma = new IntersceneLma(
 				clt_parameters.ilp.ilma_thread_invariant,
@@ -404,7 +422,7 @@ public class CuasPoseRT {
 			cm = leanMeasure(
 					clt_parameters, image_dtt, center_CLT, scene,
 					center_disparity, pXpYD_center, selection,
-					scene_xyzatr0[0], scene_xyzatr0[1], margin, corr_pd_out, debugLevel);
+					scene_xyzatr0[0], scene_xyzatr0[1], margin, corr_pd_out, img_out, debugLevel);
 			if (cm == null) return null;
 			final double [][] eigen_masked = clt_parameters.imp.eig_xy_lma ? null : cm[2];
 			intersceneLma.prepareLMA(
@@ -659,6 +677,24 @@ public class CuasPoseRT {
 		final double [][][] corr_pd_holder = corr_save ? new double [1][][] : null;
 		final float [] corr_nan_slice = corr_save ? new float [tilesX*(corr_size+1)*tilesY*(corr_size+1)] : null;
 		if (corr_nan_slice != null) Arrays.fill(corr_nan_slice, Float.NaN);
+		// DEBUG (pose_img_save): the composite (TD-averaged, grid-transformed) scenes actually
+		// correlated against the virtual center + the center reference render itself.
+		// By Claude on 07/04/2026, per Andrey's debug approach.
+		final boolean img_save = clt_parameters.curt.pose_img_save && clt_parameters.curt.pose_lean;
+		if (clt_parameters.curt.pose_img_save && !clt_parameters.curt.pose_lean) {
+			System.out.println("CuasPoseRT.testPoseSequence(): pose_img_save is only implemented "+
+					"for the LEAN engine (pose_lean) - ignored");
+		}
+		final int img_width =  center_CLT.getGPUQuad().getImageWidth();
+		final int img_height = center_CLT.getGPUQuad().getImageHeight();
+		final ArrayList<float []> img_scenes = img_save ? new ArrayList<float []>() : null;
+		final float [][] img_holder = img_save ? new float [1][] : null;
+		final float [] img_nan_slice = img_save ? new float [img_width*img_height] : null;
+		if (img_nan_slice != null) Arrays.fill(img_nan_slice, Float.NaN);
+		// the virtual-center reference render (what every scene correlates against) - becomes
+		// the second component of the -POSE-RT-COMPOSITE hyperstack, repeated for every scene
+		final float [] ref_render = img_save ? com.elphel.imagej.cuas.CuasMotion.perSensorImagesFromTD(
+				center_CLT.getGPUQuad(), true)[0] : null; // reference buffer, all slots = center
 		final double [][][] fitted = new double [quadCLTs.length][][];
 		final int [] fail_reason = new int [1];
 		final StringBuffer sb = new StringBuffer();
@@ -708,6 +744,7 @@ public class CuasPoseRT {
 					hyper_scenes.add(nan_comps);
 					hyper_ts.add(ts_name);
 					if (stack_corr != null) stack_corr.addSlice(ts_name, corr_nan_slice.clone()); // keep z aligned // By Claude on 07/04/2026
+					if (img_scenes != null) img_scenes.add(img_nan_slice.clone()); // By Claude on 07/04/2026
 					sb.append(nscene+", "+ts_name);
 					for (int j = 0; j < 12; j++) sb.append(", NaN");
 					sb.append(", NaN, 0.0, 0, -1\n");
@@ -737,6 +774,7 @@ public class CuasPoseRT {
 			fail_reason[0] = 0;
 			final double [][][] coord_motion_rslt = new double [3][][]; // [centers, vector_XYS, eigen] of the last LMA cycle
 			if (corr_pd_holder != null) corr_pd_holder[0] = null; // no stale slices on failure // By Claude on 07/04/2026
+			if (img_holder != null) img_holder[0] = null; // By Claude on 07/04/2026
 			double [][] pose;
 			if (clt_parameters.curt.pose_lean) {
 				pose = leanFitScene(
@@ -754,6 +792,7 @@ public class CuasPoseRT {
 						lma_rms,             // double []      lma_rms (out),
 						coord_motion_rslt,   // double [][][]  coord_motion_rslt (out),
 						corr_pd_holder,      // double [][][]  corr_pd_out (last-cycle PD correlations) // By Claude on 07/04/2026
+						img_holder,          // float [][]     img_out (last-cycle composite render) // By Claude on 07/04/2026
 						debugLevel - 2);     // int            debug_level
 				if (pose == null) fail_reason[0] = 1; // measurement/LMA
 			} else {
@@ -843,6 +882,10 @@ public class CuasPoseRT {
 					stack_corr.addSlice(ts_name, corr_nan_slice.clone());
 				}
 			}
+			// DEBUG: the composite scene render for -POSE-RT-COMPOSITE // By Claude on 07/04/2026
+			if (img_scenes != null) {
+				img_scenes.add((img_holder[0] != null) ? img_holder[0] : img_nan_slice.clone());
+			}
 			// CSV row + comparison stats
 			final double [] st = (stored[nscene] != null) ? stored[nscene][1] : null;
 			sb.append(nscene+", "+ts_name);
@@ -940,6 +983,25 @@ public class CuasPoseRT {
 			imp_corr.getProcessor().resetMinAndMax();
 			center_CLT.saveImagePlusInModelDirectory(null, imp_corr); // title as filename
 		}
+		// -POSE-RT-COMPOSITE (DEBUG): hyperstack [t: transformed-real, virtual][z: scene] -
+		// the composite (TD-averaged, grid-transformed) scene actually correlated and the
+		// virtual-center render it correlates against (same for all scenes, repeated so the
+		// component slider blink-compares at any scene). Same z as -POSE-RT-HYPER/-CORR2D.
+		// By Claude on 07/04/2026, per Andrey's layout.
+		if ((img_scenes != null) && !img_scenes.isEmpty()) {
+			final ImageStack stack_img = new ImageStack(img_width, img_height);
+			for (int ns = 0; ns < img_scenes.size(); ns++) {
+				stack_img.addSlice("real:"+hyper_ts.get(ns), img_scenes.get(ns));
+			}
+			for (int ns = 0; ns < img_scenes.size(); ns++) {
+				stack_img.addSlice("virtual:"+hyper_ts.get(ns), ref_render);
+			}
+			final ImagePlus imp_img = new ImagePlus(center_CLT.getImageName()+"-POSE-RT-COMPOSITE", stack_img);
+			imp_img.setDimensions(1, img_scenes.size(), 2); // z=scenes, t=[real, virtual]
+			imp_img.setOpenAsHyperStack(true);
+			imp_img.getProcessor().resetMinAndMax();
+			center_CLT.saveImagePlusInModelDirectory(null, imp_img); // title as filename
+		}
 		// -POSE-RT-HYPER: z = scenes (top slider), t = components (bottom slider) -
 		// same layout as renderSceneSequence make_hyper (component is the outer slice order)
 		if (!hyper_scenes.isEmpty()) {

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

@@ -26,6 +26,7 @@ public class CuasRtParameters {
 	public boolean  pose_lean =       false; // phase B measurement engine: TD-average the 16 sensors (CuasTD, CPU bridge) then ONE conj-multiply vs the virtual-center TD -> FZ-normalize -> PD -> argmax+eigen (getMaxXYCmEig) -> 3-angle LMA. All existing GPU kernels. v1: NO motion-blur compensation - compare vs the NOMB baseline. // By Claude on 07/05/2026
 	public boolean  pose_full =       false; // DEBUG: use ALL strength-selected tiles (~1074) - the -POSE-RT-TILE-CALIB calibration is neither read nor written (temporary bypass of the 150-tile filter for measurement debugging). // By Claude on 07/04/2026
 	public boolean  pose_corr_save =  false; // DEBUG: save the per-scene 2D correlations vs the virtual center in the pixel domain (-POSE-RT-CORR2D: z=scenes, tile grid of 16x16 cells, last LMA cycle) - lean engine only. // By Claude on 07/04/2026
+	public boolean  pose_img_save =   false; // DEBUG: save the composite scenes actually correlated - imclt render of the consolidated 16-sensor TD average at the converged pose (-POSE-RT-COMPOSITE: z=scenes; NaN outside task tiles) + the virtual-center reference render (-POSE-RT-CENTER-REF). Lean engine only. // By Claude on 07/04/2026
 	public double   psf_radius =      1.0;   // sensor PSF radius for LoG pre-filter
 	public double   n_sigma =         4.0;   // cutoff LoG kernel array, number of sigmas
 	public int      pyramid =         7;     // temporal pyramid levels
@@ -103,6 +104,8 @@ public class CuasRtParameters {
 				"DEBUG: use all strength-selected tiles (~1074); the tile-selection calibration is neither read nor written.");
 		gd.addCheckbox ("Pose test save 2D correlations",            this.pose_corr_save, // By Claude on 07/04/2026
 				"DEBUG: save per-scene pixel-domain 2D correlations vs the virtual center (-POSE-RT-CORR2D, z=scenes, last LMA cycle). Lean engine only.");
+		gd.addCheckbox ("Pose test save composite scenes",           this.pose_img_save, // By Claude on 07/04/2026
+				"DEBUG: save the rendered composite (TD-averaged, grid-transformed) scenes correlated against the virtual center (-POSE-RT-COMPOSITE, z=scenes) + the center reference render (-POSE-RT-CENTER-REF). Lean engine only.");
 
 		gd.addMessage("=== LoG prefilter ===");
 		gd.addNumericField("Optical PSF radius",                     this.psf_radius, 6,8,"pix",
@@ -236,6 +239,7 @@ public class CuasRtParameters {
 		this.pose_lean =           gd.getNextBoolean();      // By Claude on 07/05/2026
 		this.pose_full =           gd.getNextBoolean();      // By Claude on 07/04/2026
 		this.pose_corr_save =      gd.getNextBoolean();      // By Claude on 07/04/2026
+		this.pose_img_save =       gd.getNextBoolean();      // By Claude on 07/04/2026
 
 		this.psf_radius =          gd.getNextNumber();
 		this.n_sigma =             gd.getNextNumber();
@@ -313,6 +317,7 @@ public class CuasRtParameters {
 		properties.setProperty(prefix+"pose_lean",       this.pose_lean+"");      // boolean // By Claude on 07/05/2026
 		properties.setProperty(prefix+"pose_full",       this.pose_full+"");      // boolean // By Claude on 07/04/2026
 		properties.setProperty(prefix+"pose_corr_save",  this.pose_corr_save+""); // boolean // By Claude on 07/04/2026
+		properties.setProperty(prefix+"pose_img_save",   this.pose_img_save+"");  // boolean // By Claude on 07/04/2026
 
 		properties.setProperty(prefix+"psf_radius",      this.psf_radius+"");     // double
 		properties.setProperty(prefix+"n_sigma",         this.n_sigma+"");        // double
@@ -390,6 +395,7 @@ public class CuasRtParameters {
 		if (properties.getProperty(prefix+"pose_lean")!=null)       this.pose_lean=Boolean.parseBoolean(properties.getProperty(prefix+"pose_lean"));           // By Claude on 07/05/2026
 		if (properties.getProperty(prefix+"pose_full")!=null)       this.pose_full=Boolean.parseBoolean(properties.getProperty(prefix+"pose_full"));           // By Claude on 07/04/2026
 		if (properties.getProperty(prefix+"pose_corr_save")!=null)  this.pose_corr_save=Boolean.parseBoolean(properties.getProperty(prefix+"pose_corr_save")); // By Claude on 07/04/2026
+		if (properties.getProperty(prefix+"pose_img_save")!=null)   this.pose_img_save=Boolean.parseBoolean(properties.getProperty(prefix+"pose_img_save"));   // By Claude on 07/04/2026
 
 		if (properties.getProperty(prefix+"psf_radius")!=null)      this.psf_radius=Double.parseDouble(properties.getProperty(prefix+"psf_radius"));
 		if (properties.getProperty(prefix+"n_sigma")!=null)         this.n_sigma=Double.parseDouble(properties.getProperty(prefix+"n_sigma"));
@@ -470,6 +476,7 @@ public class CuasRtParameters {
 		cp.pose_lean = this.pose_lean;
 		cp.pose_full = this.pose_full; // By Claude on 07/04/2026
 		cp.pose_corr_save = this.pose_corr_save; // By Claude on 07/04/2026
+		cp.pose_img_save = this.pose_img_save; // By Claude on 07/04/2026
 		cp.psf_radius = this.psf_radius;
 		cp.n_sigma = this.n_sigma;
 		cp.pyramid = this.pyramid;