CLAUDE: Wire DNN front-end into CuasDetectRT (-DNN field, all scenes)

When curt_dnn_model is set, run the ONNX DNN per-pixel inference over
curt_save_select across all available scenes (not just the first few),
saving -DNN-RECT / -DNN-HYPER-RECT. Slice labels carry timestamp + absolute
frame index for matching to real targets. New curt_dnn_thresh (6 sites in
IntersceneMatchParameters) zeroes the (Vx,Vy,s) field below confidence s -
display/FP-suppression only. inferROI tiles the ROI batch (CHUNK) to bound
ONNX Runtime activation memory.
Co-authored-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

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

@@ -1030,6 +1030,58 @@ public class CuasDetectRT {
    				}                                                                          // By Claude on 06/11/2026
    			}                                                                              // By Claude on 06/11/2026
    		}                                                                                  // By Claude on 06/11/2026
+   		// DNN front-end (-DNN): if curt_dnn_model is set, run the trained FCN per-pixel       // By Claude on 06/13/2026
+   		// (stride-1, matching training) over the ROI -> (Vx,Vy,s) field = softmax(vel)*s,
+   		// same shape as the C5P output, saved as -DNN-RECT / -DNN-HYPER-RECT. N=8 frames
+   		// (training). Reuses curt_c5_levels for level gating. Recurrent feed is the next step
+   		// (the field is [0,1]-scaled, unlike the C5P matched-filter response - needs rescale).
+   		if (!clt_parameters.imp.curt_dnn_model.isEmpty() && (curt_save_select != null)) {     // By Claude on 06/13/2026
+   			final int N_dnn = 8;                                                              // By Claude on 06/13/2026
+   			final int vr_dnn = clt_parameters.imp.curt_vel_radius;                            // By Claude on 06/13/2026
+   			int [] c5_levels_dnn = clt_parameters.imp.curt_c5_levels;                         // By Claude on 06/13/2026
+   			try {                                                                             // By Claude on 06/13/2026
+   				CuasDnnInfer dnn = new CuasDnnInfer(clt_parameters.imp.curt_dnn_model, N_dnn); // By Claude on 06/13/2026
+   				for (int nlev = 0; nlev < pyramid_levels; nlev++) {                           // By Claude on 06/13/2026
+   					boolean lev_sel = (c5_levels_dnn == null) || (c5_levels_dnn.length == 0); // By Claude on 06/13/2026
+   					if (!lev_sel) for (int l : c5_levels_dnn) if (l == nlev) { lev_sel = true; break; } // By Claude on 06/13/2026
+   					if (!lev_sel) continue;                                                   // By Claude on 06/13/2026
+   					double [][] framesD = dpixels_pyramid[nlev];                              // By Claude on 06/13/2026
+   					if (framesD == null) continue;                                            // By Claude on 06/13/2026
+   					int num = Math.max(0, framesD.length - N_dnn + 1);                       // all available scenes // By Claude on 06/13/2026
+   					if (num == 0) continue;                                                   // By Claude on 06/13/2026
+   					double dnn_thresh = clt_parameters.imp.curt_dnn_thresh;                   // By Claude on 06/13/2026
+   					double [][][][] dnn_roi = new double [num][][][];                         // By Claude on 06/13/2026
+   					String [] ts_dnn = new String [num];                                      // By Claude on 06/13/2026
+   					System.out.println(now()+" detectTargets(): DNN inferROI LEV"+nlev+" ("+num+" scenes, "+ // By Claude on 06/13/2026
+   							(curt_save_select.width*curt_save_select.height)+" px/scene, thresh="+dnn_thresh+")"); // By Claude on 06/13/2026
+   					for (int n5d = 0; n5d < num; n5d++) {                                     // By Claude on 06/13/2026
+   						int newest = n5d + N_dnn - 1;                                         // absolute newest-frame index in framesD // By Claude on 06/13/2026
+   						float [][] window = new float [N_dnn][];                              // By Claude on 06/13/2026
+   						for (int h = 0; h < N_dnn; h++) {                                     // By Claude on 06/13/2026
+   							double [] src = framesD[newest - h];                              // h=0 newest // By Claude on 06/13/2026
+   							float [] fw = new float [src.length];                             // By Claude on 06/13/2026
+   							for (int k = 0; k < src.length; k++) fw[k] = (float) src[k];      // By Claude on 06/13/2026
+   							window[h] = fw;                                                   // By Claude on 06/13/2026
+   						}                                                                     // By Claude on 06/13/2026
+   						dnn_roi[n5d] = dnn.inferROI(window, width, height, curt_save_select, vr_dnn, dnn_thresh); // By Claude on 06/13/2026
+   						ts_dnn[n5d] = ts_pyramid[nlev][newest] + " f"+newest;                 // timestamp + abs frame index for matching // By Claude on 06/13/2026
+   						System.out.println(now()+"   DNN scene "+(n5d+1)+"/"+num+" (frame "+newest+", "+ts_pyramid[nlev][newest]+") done"); // By Claude on 06/13/2026
+   					}                                                                         // By Claude on 06/13/2026
+   					String title_dnn = title_conv5d+"-DNN"+((nlev > 0)?("-LEV"+nlev):"");      // By Claude on 06/13/2026
+   					if (curt_save_c5rect) {                                                   // By Claude on 06/13/2026
+   						QuadCLTCPU.saveImagePlusInDirectory(cuasRTUtils.showConvKernel5d(      // By Claude on 06/13/2026
+   								dnn_roi, curt_save_select, ts_dnn, title_dnn+"-RECT"), getModelDirectory()); // By Claude on 06/13/2026
+   					}                                                                         // By Claude on 06/13/2026
+   					if (clt_parameters.imp.curt_save_c5hyper) {                               // By Claude on 06/13/2026
+   						QuadCLTCPU.saveImagePlusInDirectory(cuasRTUtils.showConvKernel5dHyperRect( // By Claude on 06/13/2026
+   								dnn_roi, curt_save_select, ts_dnn, title_dnn+"-HYPER-RECT"), getModelDirectory()); // By Claude on 06/13/2026
+   					}                                                                         // By Claude on 06/13/2026
+   				}                                                                             // By Claude on 06/13/2026
+   				dnn.close();                                                                  // By Claude on 06/13/2026
+   			} catch (Exception e) {                                                           // By Claude on 06/13/2026
+   				System.out.println("DNN inference failed: "+e); e.printStackTrace();          // By Claude on 06/13/2026
+   			}                                                                                 // By Claude on 06/13/2026
+   		}                                                                                     // By Claude on 06/13/2026
    		System.out.println(now()+" detectTargets(): done"); // By Claude on 06/11/2026
    		return null;
    		/*

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

@@ -9,6 +9,7 @@ package com.elphel.imagej.cuas.rt;
 // URL; remote specs are fetched to ~/.cache/c5p_dnn/ together with the external-data sibling
 // (model.onnx + model.onnx.data, which torch 2.9's exporter splits).
 
+import java.awt.Rectangle;
 import java.io.ByteArrayOutputStream;
 import java.io.DataInputStream;
 import java.io.File;
@@ -62,6 +63,58 @@ public class CuasDnnInfer implements AutoCloseable {
         }
     }
 
+    /** Run the FCN per-pixel (stride-1, matching the ±0.5px-center training) over an ROI of the # By Claude on 06/13/2026
+     *  conditioned N-frame stack. frames=[N][width*height], newest first. Extracts a 24x24 patch
+     *  centered on each ROI pixel (zero-padded at image edges), batches them, runs ORT once, and
+     *  returns the C5P-shaped field [roi_npix][1][vdim*vdim] = softmax(vel)*s (confidence-gated
+     *  velocity posterior per pixel) - plugs straight into showConvKernel5d / the recurrent layer. */
+    public double[][][] inferROI(float[][] frames, int width, int height, Rectangle roi, int velRadius, double sThresh) throws Exception {
+        final int N = frames.length;
+        final int P = 24, half = P / 2;                 // receptive field == training patch
+        final int vdim = 2 * velRadius + 1, nvel = vdim * vdim;
+        final int rw = roi.width, rh = roi.height, npix = rw * rh;
+        final int CHUNK = 2048;   // tile the batch so ORT activations stay small (B*32*22*22)
+        double[][][] field = new double[npix][1][nvel];
+        for (int base = 0; base < npix; base += CHUNK) {
+            int bs = Math.min(CHUNK, npix - base);
+            FloatBuffer fb = FloatBuffer.allocate(bs * N * P * P);
+            for (int q = 0; q < bs; q++) {
+                int p = base + q;
+                int cy = roi.y + (p / rw), cx = roi.x + (p % rw);
+                for (int n = 0; n < N; n++) {
+                    float[] fr = frames[n];
+                    for (int j = 0; j < P; j++) {
+                        int iy = cy + j - half;
+                        boolean yok = (iy >= 0 && iy < height);
+                        for (int i = 0; i < P; i++) {
+                            int ix = cx + i - half;
+                            fb.put((yok && ix >= 0 && ix < width) ? fr[iy * width + ix] : 0f);
+                        }
+                    }
+                }
+            }
+            fb.rewind();
+            try (OnnxTensor in = OnnxTensor.createTensor(env, fb, new long[] {bs, N, P, P});
+                 OrtSession.Result res = session.run(Collections.singletonMap(inputName, in))) {
+                float[][][][] out = (float[][][][]) res.get(0).getValue();   // [bs, outCh, 1, 1]
+                for (int q = 0; q < bs; q++) {
+                    float[][][] op = out[q];
+                    float s = sigmoid(op[0][0][0]);
+                    if (s < sThresh) continue;                       // below confidence -> leave field 0 // By Claude on 06/13/2026
+                    double mx = Double.NEGATIVE_INFINITY;
+                    for (int v = 0; v < nvel; v++) mx = Math.max(mx, op[1 + v][0][0]);
+                    double sum = 0; double[] e = new double[nvel];
+                    for (int v = 0; v < nvel; v++) { e[v] = Math.exp(op[1 + v][0][0] - mx); sum += e[v]; }
+                    double[] fv = field[base + q][0];
+                    for (int v = 0; v < nvel; v++) fv[v] = (e[v] / sum) * s;
+                }
+            }
+            if ((((base / CHUNK) & 7) == 7) || (base + CHUNK >= npix))    // periodic progress // By Claude on 06/13/2026
+                System.out.println("      DNN inferROI " + Math.min(base + CHUNK, npix) + "/" + npix + " px");
+        }
+        return field;
+    }
+
     public static float sigmoid(float x) { return (float) (1.0 / (1.0 + Math.exp(-x))); }
 
     @Override public void close() throws Exception { session.close(); }
@@ -113,6 +166,24 @@ public class CuasDnnInfer implements AutoCloseable {
     }
 
     public static void main(String[] args) throws Exception {
+        if (args[0].equals("roitest")) {                 // roitest model testvec_in.bin testvec_out.bin
+            int N = 8, P = 24, vr = 5, nvel = (2 * vr + 1) * (2 * vr + 1);
+            float[] flat = readFloatsLE(args[2]);
+            float[][] frames = new float[N][P * P];      // one P*P "image" per frame
+            for (int n = 0; n < N; n++) System.arraycopy(flat, n * P * P, frames[n], 0, P * P);
+            try (CuasDnnInfer infer = new CuasDnnInfer(args[1], N)) {
+                // 1x1 ROI at the image center -> extracted patch == the full P*P frame
+                double[][][] field = infer.inferROI(frames, P, P, new Rectangle(P / 2, P / 2, 1, 1), vr, 0.0);
+                float[] exp = readFloatsLE(args[3]);     // raw [124]; build softmax(vel)*s
+                float s = sigmoid(exp[0]); double mx = -1e30, sum = 0; double[] e = new double[nvel];
+                for (int v = 0; v < nvel; v++) mx = Math.max(mx, exp[1 + v]);
+                for (int v = 0; v < nvel; v++) { e[v] = Math.exp(exp[1 + v] - mx); sum += e[v]; }
+                double maxd = 0; for (int v = 0; v < nvel; v++) maxd = Math.max(maxd, Math.abs(field[0][0][v] - e[v] / sum * s));
+                System.out.printf("inferROI roitest: max abs diff vs single-patch softmax*s = %.6g  %s%n",
+                        maxd, maxd < 1e-4 ? "PASS" : "MISMATCH");
+            }
+            return;
+        }
         // args: model(path/spec) testvec_in.bin [testvec_out.bin] [N H W]
         String model = args[0], invec = args[1];
         String outvec = args.length > 2 ? args[2] : null;

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

@@ -1178,6 +1178,7 @@ min_str_neib_fpn	0.35
 	public double   curt_c5_white_sp =     0.5;   // whitening spatial strength a (3-tap unsharp (1+2a,-a,-a) in x and y); 0 - no spatial sharpening // By Claude on 06/13/2026
 	public double   curt_c5_white_vel =    0.0;   // whitening velocity strength a (3-tap unsharp in vx and vy); 0 - no velocity sharpening // By Claude on 06/13/2026
 	public String   curt_dnn_model =       "";    // C5P DNN front-end model (ONNX): empty = disabled; local path, scp user@host:path, or http(s) URL fetched to cache; overrides bundled resource (mirrors tile_processor_gpu) // By Claude on 06/13/2026
+	public double   curt_dnn_thresh =      0.0;   // DNN display threshold: zero the (Vx,Vy,s) field where detection s < this (0 - show all); cosmetic FP-suppression - real-clutter FPs need a retrain with real-bg negatives, not a threshold // By Claude on 06/13/2026
 	public boolean  curt_synth_src =       true;  // default set for the synthetic B-measurement experiment (set false for real-data runs); reads *-CUAS-SYNTHETIC-CUAS.tiff, output titles get -SYNTH // By Claude on 06/12/2026
 	public double   curt_synth_scale =     5.0;   // synthetic target peak, counts (synthetic file is peak-1 normalized; scaled at load) // By Claude on 06/12/2026
 	public boolean  curt_synth_bg =        true;  // add the real *-CUAS-MERGED-CUAS.tiff scene under the synthetic targets (label-matched frames); false - clean targets only // By Claude on 06/12/2026
@@ -3519,6 +3520,8 @@ min_str_neib_fpn	0.35
 				"Velocity unsharp strength a: same 3-tap in vx and vy within each pixel's velocity grid. Sharpens the velocity-cell spread. 0 - off (start spatial-only)."); // By Claude on 06/13/2026
 		gd.addStringField ("C5P DNN model (ONNX)",                   this.curt_dnn_model, 60, // By Claude on 06/13/2026
 				"Trained DNN front-end model location. Empty = disabled (use matched-filter/posterior path). Local path, scp user@host:/path (fetched to cache), or http(s) URL. Overrides any bundled resource - same default-vs-override scheme as the GPU kernel sources."); // By Claude on 06/13/2026
+		gd.addNumericField("DNN confidence threshold",               this.curt_dnn_thresh, 6,8,"", // By Claude on 06/13/2026
+				"Zero the DNN (Vx,Vy,s) field where detection confidence s < this (0 = show all). Display/FP-suppression only - real-clutter false positives need a retrain with real-background negatives, not a threshold."); // By Claude on 06/13/2026
 		gd.addCheckbox ("Use synthetic input",                       this.curt_synth_src, // By Claude on 06/11/2026
 				"Read *-CUAS-SYNTHETIC-CUAS.tiff (generated test targets) instead of *-CUAS-MERGED-CUAS.tiff from the same model directory; all output titles get a -SYNTH mark."); // By Claude on 06/11/2026
 		gd.addNumericField("Synthetic target peak",                   this.curt_synth_scale, 6,8,"counts", // By Claude on 06/12/2026
@@ -5064,6 +5067,7 @@ min_str_neib_fpn	0.35
 		this.curt_c5_white_sp =         gd.getNextNumber();      // By Claude on 06/13/2026
 		this.curt_c5_white_vel =        gd.getNextNumber();      // By Claude on 06/13/2026
 		this.curt_dnn_model =           gd.getNextString().trim(); // By Claude on 06/13/2026
+		this.curt_dnn_thresh =          gd.getNextNumber();      // By Claude on 06/13/2026
 		this.curt_synth_src =           gd.getNextBoolean();     // By Claude on 06/11/2026
 		this.curt_synth_scale =         gd.getNextNumber();      // By Claude on 06/12/2026
 		this.curt_synth_bg =            gd.getNextBoolean();     // By Claude on 06/12/2026
@@ -6429,6 +6433,7 @@ min_str_neib_fpn	0.35
 		properties.setProperty(prefix+"curt_c5_white_sp",     this.curt_c5_white_sp+"");    // double // By Claude on 06/13/2026
 		properties.setProperty(prefix+"curt_c5_white_vel",    this.curt_c5_white_vel+"");   // double // By Claude on 06/13/2026
 		properties.setProperty(prefix+"curt_dnn_model",       this.curt_dnn_model);         // String // By Claude on 06/13/2026
+		properties.setProperty(prefix+"curt_dnn_thresh",      this.curt_dnn_thresh+"");     // double // By Claude on 06/13/2026
 		properties.setProperty(prefix+"curt_synth_src",       this.curt_synth_src+"");      // boolean // By Claude on 06/11/2026
 		properties.setProperty(prefix+"curt_synth_scale",     this.curt_synth_scale+"");    // double  // By Claude on 06/12/2026
 		properties.setProperty(prefix+"curt_synth_bg",        this.curt_synth_bg+"");       // boolean // By Claude on 06/12/2026
@@ -6829,6 +6834,7 @@ min_str_neib_fpn	0.35
 		if (properties.getProperty(prefix+"curt_c5_white_sp")!=null)     this.curt_c5_white_sp=Double.parseDouble(properties.getProperty(prefix+"curt_c5_white_sp")); // By Claude on 06/13/2026
 		if (properties.getProperty(prefix+"curt_c5_white_vel")!=null)    this.curt_c5_white_vel=Double.parseDouble(properties.getProperty(prefix+"curt_c5_white_vel")); // By Claude on 06/13/2026
 		if (properties.getProperty(prefix+"curt_dnn_model")!=null)       this.curt_dnn_model=(String) properties.getProperty(prefix+"curt_dnn_model"); // By Claude on 06/13/2026
+		if (properties.getProperty(prefix+"curt_dnn_thresh")!=null)      this.curt_dnn_thresh=Double.parseDouble(properties.getProperty(prefix+"curt_dnn_thresh")); // By Claude on 06/13/2026
 
 		if (properties.getProperty(prefix+"curt_synth_src")!=null)       this.curt_synth_src=Boolean.parseBoolean(properties.getProperty(prefix+"curt_synth_src"));         // By Claude on 06/11/2026
 		if (properties.getProperty(prefix+"curt_synth_scale")!=null)     this.curt_synth_scale=Double.parseDouble(properties.getProperty(prefix+"curt_synth_scale"));       // By Claude on 06/12/2026
@@ -9111,6 +9117,7 @@ min_str_neib_fpn	0.35
 		imp.curt_c5_white_sp =      this.curt_c5_white_sp;    // By Claude on 06/13/2026
 		imp.curt_c5_white_vel =     this.curt_c5_white_vel;   // By Claude on 06/13/2026
 		imp.curt_dnn_model =        this.curt_dnn_model;     // By Claude on 06/13/2026
+		imp.curt_dnn_thresh =       this.curt_dnn_thresh;    // By Claude on 06/13/2026
 		imp.curt_synth_src =        this.curt_synth_src;     // By Claude on 06/11/2026
 		imp.curt_synth_scale =      this.curt_synth_scale;   // By Claude on 06/12/2026
 		imp.curt_synth_bg =         this.curt_synth_bg;      // By Claude on 06/12/2026