CLAUDE: lean pose DEBUG: pose_stored - stored poses, no LMA (decouple render from solver)

Per Andrey: static per-tile dx offsets found in -POSE-RT-HYPER (e.g. tile
x=15,y=41: dx mean +0.92 constant over all 497 scenes, far tile disp 0.02;
tile x=71,y=51: dx +0.86 dy +1.91, near tile disp 13.2 - neighbors with
similar disparity are near zero) -> suspect broken per-tile task data.

New checkbox "Pose test stored poses (no LMA)" (curt.pose_stored): every
scene is measured/rendered at its STORED (oracle-vintage) pose, the LMA is
skipped entirely. -POSE-RT-HYPER/-CORR2D/-COMPOSITE come from that single
measurement; CSV rms column = weighted RMS of the measured offsets.
The -POSE-RT-COMPOSITE "real" component must then match the oracle
CUAS-MERGED-CUAS-DBG per-scene renders tile-for-tile (and "virtual" its
[average] slice) - any mismatch localizes the broken tiles in the
task/render/correlation chain, independent of the solver.

Observability only - the fitting paths are unchanged.
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

@@ -663,6 +663,11 @@ public class CuasPoseRT {
 					"TD-average(16) x virtual-center single conj-multiply. NOTE: no MB compensation "+
 					"in lean v1 - compare against the NOMB baseline");
 		}
+		if (clt_parameters.curt.pose_stored) { // By Claude on 07/04/2026
+			System.out.println("CuasPoseRT.testPoseSequence(): pose_stored ON (DEBUG) - STORED poses, "+
+					"NO LMA: measurement/render chain only"+
+					(clt_parameters.curt.pose_lean ? "" : " (only implemented for the LEAN engine - ignored)"));
+		}
 		// DEBUG (pose_corr_save): render per-scene pixel-domain correlations vs the virtual
 		// center (-POSE-RT-CORR2D, z=scenes, last LMA cycle, 16x16 cells per tile) - the same
 		// visual debugging used on the oracle. Lean only: the oracle engine does not expose
@@ -776,7 +781,38 @@ public class CuasPoseRT {
 			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) {
+			if (clt_parameters.curt.pose_lean && clt_parameters.curt.pose_stored) {
+				// DEBUG (pose_stored): measurement/render at the STORED pose, NO LMA - decouples
+				// the task/render/correlation chain from the solver. The composite must then match
+				// the oracle CUAS-MERGED-CUAS-DBG renders tile-for-tile. By Claude on 07/04/2026.
+				final double [][] use_pose = (stored[nscene] != null) ? stored[nscene] : predicted;
+				if (stored[nscene] == null) {
+					System.out.println("CuasPoseRT: scene "+nscene+" ("+ts_name+") pose_stored: no stored pose, using prediction");
+				}
+				final double [][][] cm = leanMeasure(
+						clt_parameters, image_dtt_lean, center_CLT, quadCLTs[nscene],
+						center_disparity, pXpYD_center, reliable_ref,
+						use_pose[0], use_pose[1], margin,
+						corr_pd_holder, img_holder, debugLevel - 2);
+				if (cm != null) {
+					pose = new double [][] {use_pose[0].clone(), use_pose[1].clone()};
+					for (int i = 0; (i < coord_motion_rslt.length) && (i < cm.length); i++) {
+						coord_motion_rslt[i] = cm[i];
+					}
+					double sw = 0, s2 = 0; int nm = 0;
+					for (double [] v : cm[1]) if (v != null) {
+						sw += v[2];
+						s2 += v[2]*(v[0]*v[0] + v[1]*v[1]);
+						nm++;
+					}
+					lma_rms[0] = (sw > 0) ? Math.sqrt(s2/sw) : Double.NaN; // weighted RMS of measured offsets
+					if (lma_rms.length > 2) lma_rms[2] = sw;
+					if (lma_rms.length > 3) lma_rms[3] = nm;
+				} else {
+					pose = null;
+					fail_reason[0] = 1;
+				}
+			} else if (clt_parameters.curt.pose_lean) {
 				pose = leanFitScene(
 						clt_parameters,      // CLTParameters  clt_parameters,
 						image_dtt_lean,      // ImageDtt       image_dtt,

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

@@ -27,6 +27,7 @@ public class CuasRtParameters {
 	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 boolean  pose_stored =     false; // DEBUG: decouple rendering/measurement from the LMA - use the STORED (oracle vintage) pose for every scene, no adjustment; one leanMeasure per scene feeds -POSE-RT-HYPER/-CORR2D/-COMPOSITE. The composite must then match the oracle CUAS-MERGED-CUAS-DBG renders tile-for-tile. 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
@@ -106,6 +107,8 @@ public class CuasRtParameters {
 				"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.addCheckbox ("Pose test stored poses (no LMA)",           this.pose_stored, // By Claude on 07/04/2026
+				"DEBUG: measure/render every scene at its STORED pose, skip the LMA entirely - decouples the task/render/correlation chain from the solver. Lean engine only.");
 
 		gd.addMessage("=== LoG prefilter ===");
 		gd.addNumericField("Optical PSF radius",                     this.psf_radius, 6,8,"pix",
@@ -240,6 +243,7 @@ public class CuasRtParameters {
 		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.pose_stored =         gd.getNextBoolean();      // By Claude on 07/04/2026
 
 		this.psf_radius =          gd.getNextNumber();
 		this.n_sigma =             gd.getNextNumber();
@@ -318,6 +322,7 @@ public class CuasRtParameters {
 		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+"pose_stored",     this.pose_stored+"");    // 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
@@ -396,6 +401,7 @@ public class CuasRtParameters {
 		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+"pose_stored")!=null)     this.pose_stored=Boolean.parseBoolean(properties.getProperty(prefix+"pose_stored"));       // 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"));
@@ -477,6 +483,7 @@ public class CuasRtParameters {
 		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.pose_stored = this.pose_stored; // By Claude on 07/04/2026
 		cp.psf_radius = this.psf_radius;
 		cp.n_sigma = this.n_sigma;
 		cp.pyramid = this.pyramid;