CLAUDE: A2 step 1 - raw-jp4 + CuasConditioning ingest feeding the GPU directly (curt_pose_raw)

Per Andrey: bypass the QuadCLT image_data mechanics entirely and feed the GPU
directly - the permanent RT shape (more data becomes GPU-memory-resident;
QuadCLT stays for geometry/poses only).

- CuasMotion.readRawImageData(): raw /jp4/ reader extracted from
  perSensorFromRawJp4 (oracle getJp4Tiff, one thread/sensor, instrumentation);
  perSensorFromRawJp4 rewired, behavior unchanged.
- CuasConditioning.conditionSceneToGpu(): raw read -> condition() with the
  CURRENT calibration (curt_calib-updated lwir scales/offsets/scales2 +
  per-pixel FPN from the scene QuadCLT) -> bind scene (saveQuadClt,
  conditional) -> clear hasNewImageData -> setBayerImages(data,true) force-H2D.
  The bayer guard (ebef0b23 fix) keeps the upload alive through
  interCorrPair's own setBayerImages(false). TELL if the guard ever breaks:
  results become identical to the prepared-data path.
- CuasPoseRT: curt_pose_raw flag (new checkbox 'Pose test raw-jp4 ingest (A2)')
  runs the ingest per scene before the fit; ingest failure coasts the
  prediction and records an empty CSV/hyper row (fail=-1).

Acceptance (recorded): A2 legitimately diverges from phase A (old
Photogrammetric Calibration was broken, frozen from unrelated footage) -
judge by A2's OWN dstored/corr-RMS/convergence; systematically worse = red flag.

mvn compile clean.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

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

@@ -4261,6 +4261,30 @@ public class CuasMotion {
 			System.out.println("perSensorFromRawJp4(): no physical scene bound to the GPU (getQuadCLT()==null) - skipping raw render");
 			return null;
 		}
+		final double [][][] raw = readRawImageData(qclt, threadsMax, debugLevel);
+		if (raw == null) {
+			return null;
+		}
+		// Upload + convert + render + save the raw per-sensor stack to the -CENTER instance, alongside the conditioned one.
+		return perSensorFromData(clt_parameters, save_qclt, raw, "-CUAS-PERSENSOR-RAW", threadsMax, debugLevel);
+	}
+
+	/**
+	 * Read a scene's RAW per-sensor source images from /jp4/ (NO conditioning applied) -
+	 * extracted from perSensorFromRawJp4() so the A2/RT ingest (CuasConditioning.
+	 * conditionSceneToGpu) can reuse the oracle reader. One thread per sensor (matches
+	 * the RT model: 4 SATA paths x 4 sensors read concurrently). getJp4Tiff parses the
+	 * Boson telemetry first line and restores the ch-6 floating bit-12 of older footage.
+	 * By Claude on 07/05/2026 (extraction; logic unchanged from 07/02/2026).
+	 * @param qclt physical scene: /jp4/ source paths + geometry.
+	 * @param threadsMax max read threads.
+	 * @param debugLevel debug verbosity.
+	 * @return [sensor][color][pixel] raw data, or null if source files missing/incomplete.
+	 */
+	public static double [][][] readRawImageData(
+			final QuadCLT qclt,
+			final int     threadsMax,
+			final int     debugLevel) {
 		final int      num_sens    = qclt.getNumSensors();
 		final String   set_name    = qclt.getImageName();
 		final String [] sourceFiles = qclt.correctionsParameters.getSourcePaths();
@@ -4280,14 +4304,12 @@ public class CuasMotion {
 			}
 		}
 		if (found == 0) {
-			System.out.println("perSensorFromRawJp4(): no source files found for set '"+set_name+
-					"' - is the jp4 source dir available? Skipping raw render.");
+			System.out.println("readRawImageData(): no source files found for set '"+set_name+
+					"' - is the jp4 source dir available?");
 			return null;
 		}
-		// Read raw per-sensor bayer (NO conditioning) -> [sensor][color][pixel], one thread per sensor
-		// (matches the RT model: 4 SATA paths x 4 sensors read concurrently). Reuses the existing oracle reader;
-		// a custom fast tiff read (skip Exif/telemetry parse on the uncompressed 16-bit BE tiff) is deferred until/
-		// unless this read becomes CPU-bound.
+		// Read raw per-sensor bayer (NO conditioning) -> [sensor][color][pixel], one thread per sensor.
+		// TIFF-read acceleration (skip Exif/telemetry parse) is deferred - only if RT becomes CPU-bound.
 		final double [][][] raw = new double [num_sens][][];
 		final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
 		final AtomicInteger ai = new AtomicInteger(0);
@@ -4296,7 +4318,7 @@ public class CuasMotion {
 				public void run() {
 					for (int ncam = ai.getAndIncrement(); ncam < num_sens; ncam = ai.getAndIncrement()) {
 						final int nFile = channelFiles[ncam];
-						if (nFile < 0) { System.out.println("perSensorFromRawJp4(): no source file for sensor "+ncam); continue; }
+						if (nFile < 0) { System.out.println("readRawImageData(): no source file for sensor "+ncam); continue; }
 						final ImagePlus imp_src = qclt.eyesisCorrections.getJp4Tiff(
 								sourceFiles[nFile],
 								qclt.geometryCorrection.woi_tops,
@@ -4310,27 +4332,24 @@ public class CuasMotion {
 			};
 		}
 		ImageDtt.startAndJoin(threads);
-		// By Claude on 07/02/2026: convert with the test's OWN uniform task grid (leftover GPU tasks after an
-		// MB-enabled render are the secondary set with negative fractional scales -> "negative raw" images, and
-		// a leftover virtual-view grid loses the same border ROI on every sensor). Do NOT setImageData(raw): it
-		// destroyed the scene's conditioned data and armed the hasNewImageData/image_data_alt re-pull trap.
-		{ // By Claude on 07/02/2026: instrumentation - verify what was actually read (raw LWIR should be ~+20800)
+		{ // instrumentation - verify what was actually read (raw LWIR should be ~+20800)
 			int num_null = 0;
 			StringBuffer sb = new StringBuffer();
 			for (int ncam = 0; ncam < num_sens; ncam++) {
 				if ((raw[ncam] == null) || (raw[ncam][0] == null)) { num_null++; continue; }
 				if ((ncam % 4) == 0) sb.append(String.format(" s%02d=%.0f", ncam, meanFinite(raw[ncam][0], 0)));
 			}
-			System.out.println("perSensorFromRawJp4(): read raw source for set '"+set_name+"' ("+found+
-					" source files, "+num_null+" null sensors) means:"+sb);
+			if (debugLevel > -3) {
+				System.out.println("readRawImageData(): read raw source for set '"+set_name+"' ("+found+
+						" source files, "+num_null+" null sensors) means:"+sb);
+			}
 			if (num_null > 0) {
-				System.out.println("perSensorFromRawJp4(): "+num_null+" sensors have NO raw data - aborting raw render "+
-						"(would crash or silently keep previous GPU bayer)");
+				System.out.println("readRawImageData(): "+num_null+" sensors have NO raw data for set '"+set_name+
+						"' - returning null (would crash or silently keep previous GPU bayer)");
 				return null;
 			}
 		}
-		// Upload + convert + render + save the raw per-sensor stack to the -CENTER instance, alongside the conditioned one.
-		return perSensorFromData(clt_parameters, save_qclt, raw, "-CUAS-PERSENSOR-RAW", threadsMax, debugLevel);
+		return raw;
 	}
 
 

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

@@ -23,6 +23,10 @@ package com.elphel.imagej.cuas.rt;
  **
  */
 
+import com.elphel.imagej.cuas.CuasMotion;
+import com.elphel.imagej.gpu.GpuQuad;
+import com.elphel.imagej.tileprocessor.QuadCLT;
+
 /**
  * Lean, self-contained per-sensor conditioning for the CUAS real-time / tile-processor path.
  * By Claude on 06/30/2026.
@@ -99,6 +103,52 @@ public class CuasConditioning {
 		}
 	}
 
+	/**
+	 * 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
+	 * scene QuadCLT), and feed the GPU DIRECTLY - completely bypassing the QuadCLT
+	 * image_data mechanics (per Andrey: this is the permanent RT shape, especially as more
+	 * data becomes GPU-memory-resident; QuadCLT stays for geometry/poses only).
+	 *
+	 * GPU handoff contract (validated by the bayer-guard fix, ebef0b23): bind the scene
+	 * FIRST (saveQuadClt - conditional, resets the guard only on instance switch), clear
+	 * hasNewImageData, then FORCE-upload - setBayerImages(data,true) sets bayer_set, so the
+	 * pipeline's later pull-variant setBayerImages(false) skips its re-pull and the
+	 * conditioned pixels survive through convert_direct. TELL if this ever breaks: the
+	 * downstream results become identical to the prepared-data path (silent re-pull).
+	 *
+	 * By Claude on 07/05/2026, from Andrey's design.
+	 * @param scene      physical scene: /jp4/ source, calibration globals, FPN, geometry
+	 * @param cfg        conditioning configuration (null - defaults: rowcol+photometric+FPN)
+	 * @param threadsMax max read threads
+	 * @param debugLevel debug verbosity
+	 * @return true on success; false if raw source missing (GPU state untouched)
+	 */
+	public static boolean conditionSceneToGpu(
+			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;
+		}
+		final int width = scene.getGeometryCorrection().getSensorWH()[0];
+		condition(
+				data,                    // double [][][] image_data (in place)
+				width,                   // int           width
+				scene.getLwirScales(),   // double []     scales
+				scene.getLwirOffsets(),  // double []     offsets
+				scene.getLwirScales2(),  // double []     scales2
+				scene.getFPN(),          // double [][][] fpn (null - none)
+				cfg);                    // Config        (null - defaults)
+		final GpuQuad gpuQuad = scene.getGPUQuad();
+		scene.saveQuadClt();                 // bind this scene (conditional; resets bayer guard on switch)
+		scene.setHasNewImageData(false);     // the guard's other re-pull trigger - must be clear
+		gpuQuad.setBayerImages(data, true);  // force H2D; sets bayer_set -> pipeline skips its pull
+		return true;
+	}
+
 	/** Row/Col denoise for one sensor's flat pixel array (in place): subtract per-row, then per-col. */
 	public static void subtractRowColSensor(final double [] px, final int width, final Config cfg) {
 		final int height = px.length / width;

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

@@ -32,6 +32,7 @@ import java.util.Arrays;
 import com.elphel.imagej.cameras.CLTParameters;
 import com.elphel.imagej.gpu.TpTask;
 import com.elphel.imagej.tileprocessor.ErsCorrection;
+import com.elphel.imagej.tileprocessor.ImageDtt;
 import com.elphel.imagej.tileprocessor.Interscene;
 import com.elphel.imagej.tileprocessor.OpticalFlow;
 import com.elphel.imagej.tileprocessor.QuadCLT;
@@ -402,6 +403,36 @@ public class CuasPoseRT {
 			}
 			quadCLTs[nscene].getErsCorrection().setErsDt(
 					QuadCLTCPU.scaleDtToErs(clt_parameters, dxyzatr_dt));
+			// Phase A2 ingest (curt_pose_raw): read RAW /jp4/, condition with the CURRENT
+			// calibration and force-upload straight to the GPU - bypasses the prepared
+			// image_data (old broken Photogrammetric Calibration). The bayer guard keeps
+			// the upload alive through interCorrPair's own setBayerImages(false).
+			// A2 results legitimately diverge from phase A (cleaner input) - judge by own
+			// dstored quality. By Claude on 07/05/2026, from Andrey's design.
+			if (clt_parameters.imp.curt_pose_raw) {
+				final boolean raw_ok = CuasConditioning.conditionSceneToGpu(
+						quadCLTs[nscene],           // QuadCLT scene (jp4 + calibration + FPN)
+						null,                       // Config (defaults: rowcol + photometric + FPN)
+						ImageDtt.THREADS_MAX,       // read threads
+						debugLevel - 2);            // debug
+				if (!raw_ok) {
+					System.out.println("CuasPoseRT: scene "+nscene+" ("+ts_name+
+							") raw-jp4 ingest FAILED - coasting prediction");
+					fitted[nscene] = new double [][] {predicted[0].clone(), predicted[1].clone()};
+					num_fail++;
+					// keep CSV/hyper alignment: record an empty measurement row
+					final float [][] nan_comps = new float [HYPER_COMPONENTS.length][num_pix];
+					for (float [] c : nan_comps) Arrays.fill(c, Float.NaN);
+					hyper_scenes.add(nan_comps);
+					hyper_ts.add(ts_name);
+					sb.append(nscene+", "+ts_name);
+					for (int j = 0; j < 12; j++) sb.append(", NaN");
+					sb.append(", NaN, 0.0, 0, -1\n");
+					prev_pose = predicted;
+					prev_ts = ts;
+					continue;
+				}
+			}
 			// Motion-blur compensation (gated by the same imp.mb_en as offline): per-tile blur
 			// vectors from the finite-difference rates -> interCorrPair takes the
 			// setInterTasksMotionBlur/interCorrTDMotionBlur path (convert_direct runs twice,

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

@@ -1132,6 +1132,7 @@ min_str_neib_fpn	0.35
 	public double   curt_pose_dxy_k =      0.75;  // tile-selection outlier gate: keep tiles with max-over-scenes residual <= median + k*NMAD of the finite per-tile maxes (scale-free - adapts to footage quality/sequence length; NaN-in-any-scene = +inf, always rejected). <=0 - skip the gate. // By Claude on 07/04/2026
 	public int      curt_pose_num_tiles =  150;   // tile-selection compute budget: after the gate, keep this many BEST (smallest max-residual) tiles; threshold-free rank - always yields the best available population. <=0 - no cap. // By Claude on 07/04/2026
 	public boolean  curt_pose_recalc =     false; // force a FULL-selection pose run that regenerates the -POSE-RT-MAXDXY calibration even if it exists. Default (false): automatic FPN-style reuse - if -POSE-RT-MAXDXY exists, derive the selection from it (NMAD gate + rank-N) and use it; if not, run full and generate it. // By Claude on 07/04/2026
+	public boolean  curt_pose_raw =        false; // phase A2 ingest: per scene read RAW /jp4/, condition with the current calibration (CuasConditioning: rowcol + photometric + FPN) and FORCE-upload straight to the GPU, bypassing the QuadCLT prepared image_data (which carries the old broken Photogrammetric Calibration). Judge by own dstored quality, not agreement with phase A. // By Claude on 07/05/2026
 	//=== 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
@@ -3431,6 +3432,8 @@ min_str_neib_fpn	0.35
 				"After the gate keep this many best (smallest max-residual) tiles - the RT compute budget. <=0 - no cap.");
 		gd.addCheckbox ("Pose test force recalc calibration",        this.curt_pose_recalc, // By Claude on 07/04/2026
 				"Force a FULL pose run that regenerates -POSE-RT-MAXDXY even if it exists. Default OFF = automatic reuse: use the calibration if present (filtered run), else run full and generate it.");
+		gd.addCheckbox ("Pose test raw-jp4 ingest (A2)",             this.curt_pose_raw, // By Claude on 07/05/2026
+				"Per scene: read RAW /jp4/, condition with the CURRENT calibration (rowcol+photometric+FPN, CuasConditioning) and force-upload straight to the GPU, bypassing the prepared image_data (old broken Photogrammetric Calibration).");
 
 		gd.addMessage("=== LoG prefilter ===");
 		gd.addNumericField("Optical PSF radius",                     this.curt_psf_radius, 6,8,"pix",
@@ -5028,6 +5031,7 @@ min_str_neib_fpn	0.35
 		this.curt_pose_dxy_k =          gd.getNextNumber();       // By Claude on 07/04/2026
 		this.curt_pose_num_tiles =(int) gd.getNextNumber();       // By Claude on 07/04/2026
 		this.curt_pose_recalc =         gd.getNextBoolean();      // By Claude on 07/04/2026
+		this.curt_pose_raw =            gd.getNextBoolean();      // By Claude on 07/05/2026
 
 		this.curt_psf_radius =          gd.getNextNumber();
 		this.curt_n_sigma =             gd.getNextNumber();
@@ -6399,6 +6403,7 @@ min_str_neib_fpn	0.35
 		properties.setProperty(prefix+"curt_pose_dxy_k",      this.curt_pose_dxy_k+"");     // double  // By Claude on 07/04/2026
 		properties.setProperty(prefix+"curt_pose_num_tiles",  this.curt_pose_num_tiles+""); // int     // By Claude on 07/04/2026
 		properties.setProperty(prefix+"curt_pose_recalc",     this.curt_pose_recalc+"");    // boolean // By Claude on 07/04/2026
+		properties.setProperty(prefix+"curt_pose_raw",        this.curt_pose_raw+"");       // boolean // By Claude on 07/05/2026
 
 		properties.setProperty(prefix+"curt_psf_radius",      this.curt_psf_radius+"");     // double
 		properties.setProperty(prefix+"curt_n_sigma",         this.curt_n_sigma+"");        // double
@@ -6804,6 +6809,7 @@ min_str_neib_fpn	0.35
 		if (properties.getProperty(prefix+"curt_pose_dxy_k")!=null)      this.curt_pose_dxy_k=Double.parseDouble(properties.getProperty(prefix+"curt_pose_dxy_k"));           // By Claude on 07/04/2026
 		if (properties.getProperty(prefix+"curt_pose_num_tiles")!=null)  this.curt_pose_num_tiles=Integer.parseInt(properties.getProperty(prefix+"curt_pose_num_tiles"));     // By Claude on 07/04/2026
 		if (properties.getProperty(prefix+"curt_pose_recalc")!=null)     this.curt_pose_recalc=Boolean.parseBoolean(properties.getProperty(prefix+"curt_pose_recalc"));       // By Claude on 07/04/2026
+		if (properties.getProperty(prefix+"curt_pose_raw")!=null)        this.curt_pose_raw=Boolean.parseBoolean(properties.getProperty(prefix+"curt_pose_raw"));             // By Claude on 07/05/2026
 
 		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"));
@@ -9094,6 +9100,7 @@ min_str_neib_fpn	0.35
 		imp.curt_pose_dxy_k =       this.curt_pose_dxy_k;     // By Claude on 07/04/2026
 		imp.curt_pose_num_tiles =   this.curt_pose_num_tiles; // By Claude on 07/04/2026
 		imp.curt_pose_recalc =      this.curt_pose_recalc;    // By Claude on 07/04/2026
+		imp.curt_pose_raw =         this.curt_pose_raw;       // By Claude on 07/05/2026
 		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