CLAUDE: CuasPoseRT: save -POSE-RT-RELIABLE mask + -POSE-RT-HYPER measurement stack

Per Andrey: characterize the per-scene measurement, incl. the eigenvector data.
-POSE-RT-HYPER (80x64, z=scenes, t=components, make_hyper layout): dx, dy,
strength, dxy=|dx,dy| from vector_XYS; sqrt_l0, sqrt_l1 (peak-ellipse half-axes,
pix), elong=sqrt(l1/l0) (linear-feature indicator), eig0_ang (precise-axis
direction, [0,PI)) from coord_motion eigen {eig_x,eig_y,l0,l1} - NaN unless
imp.eig_use. Data = last LMA cycle's coord_motion via the existing
coord_motion_rslt out-param. -POSE-RT-RELIABLE = tile selection mask.

Verified with standalone javac against target/classes (Eyesis live - no mvn;
Eclipse rebuilds on restart).
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

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

@@ -26,6 +26,8 @@ package com.elphel.imagej.cuas.rt;
 
 import java.io.FileWriter;
 import java.io.IOException;
+import java.util.ArrayList;
+import java.util.Arrays;
 
 import com.elphel.imagej.cameras.CLTParameters;
 import com.elphel.imagej.gpu.TpTask;
@@ -36,7 +38,10 @@ import com.elphel.imagej.tileprocessor.QuadCLT;
 import com.elphel.imagej.tileprocessor.QuadCLTCPU;
 import com.elphel.imagej.tileprocessor.TwoQuadCLT;
 
+import ij.ImagePlus;
+import ij.ImageStack;
 import ij.Prefs;
+import ij.process.FloatProcessor;
 
 /**
  * Phase A of the RT pose-adjustment package (design: ANDREY_CONTINUE 2026-07-03,
@@ -71,6 +76,15 @@ import ij.Prefs;
  */
 public class CuasPoseRT {
 	public static final double [] ZERO3 = {0.0, 0.0, 0.0};
+	// Per-scene measurement characterization slices of the -POSE-RT-HYPER stack
+	// (z = scenes, t = components, matching the renderSceneSequence make_hyper convention).
+	// dx,dy,strength from coord_motion[1] (vector_XYS); the eigen four from coord_motion[2]
+	// {eig_x,eig_y,l0,l1} (filled when imp.eig_use is on; NaN otherwise): sqrt_l0/sqrt_l1 =
+	// correlation-peak ellipse half-axes (pix), elong = sqrt(l1/l0) (large = linear feature,
+	// e.g. straight horizon: precise only perpendicular), eig0_ang = direction of the
+	// precise axis (eigenvector of the smaller eigenvalue), radians [0,PI).
+	public static final String [] HYPER_COMPONENTS =
+		{"dx", "dy", "strength", "dxy", "sqrt_l0", "sqrt_l1", "elong", "eig0_ang"};
 
 	/**
 	 * Re-generate per-scene poses against the virtual-center reference, RT-style.
@@ -179,6 +193,15 @@ public class CuasPoseRT {
 		}
 
 		// ---- Ascending per-scene loop (the RT iterator) ----
+		final int tilesX = center_CLT.getTilesX();
+		final int tilesY = center_CLT.getTilesY();
+		final int num_pix = tilesX * tilesY;
+		final ArrayList<float [][]> hyper_scenes = new ArrayList<float [][]>(); // per used scene: [component][tile]
+		final ArrayList<String>     hyper_ts =     new ArrayList<String>();
+		if (!clt_parameters.imp.eig_use && (debugLevel > -4)) {
+			System.out.println("CuasPoseRT.testPoseSequence(): imp.eig_use is OFF - the 4 eigen slices of "+
+					"-POSE-RT-HYPER (sqrt_l0, sqrt_l1, elong, eig0_ang) will be all NaN");
+		}
 		final double [][][] fitted = new double [quadCLTs.length][][];
 		final int [] fail_reason = new int [1];
 		final StringBuffer sb = new StringBuffer();
@@ -206,6 +229,7 @@ public class CuasPoseRT {
 			quadCLTs[nscene].getErsCorrection().setErsDt(
 					QuadCLTCPU.scaleDtToErs(clt_parameters, dxyzatr_dt));
 			fail_reason[0] = 0;
+			final double [][][] coord_motion_rslt = new double [3][][]; // [centers, vector_XYS, eigen] of the last LMA cycle
 			double [][] pose = Interscene.adjustPairsLMAInterscene(
 					clt_parameters,      // CLTParameters  clt_parameters,
 					true,                // boolean        initial_adjust,
@@ -232,7 +256,7 @@ public class CuasPoseRT {
 					mb_tau,              // double         mb_tau,
 					mb_max_gain,         // double         mb_max_gain,
 					null,                // double [][]    mb_vectors (MB off in phase A),
-					null,                // double [][][]  coord_motion_rslt,
+					coord_motion_rslt,   // double [][][]  coord_motion_rslt (last-cycle measurement, for -POSE-RT-HYPER),
 					debugLevel - 2);     // int            debug_level
 			final boolean ok = (pose != null);
 			if (ok) {
@@ -247,6 +271,34 @@ public class CuasPoseRT {
 							fail_reason[0]+" ("+Interscene.getFailReason(fail_reason[0])+"), coasting prediction");
 				}
 			}
+			// Collect measurement characterization slices for -POSE-RT-HYPER
+			{
+				final float [][] comps = new float [HYPER_COMPONENTS.length][num_pix];
+				for (float [] c : comps) Arrays.fill(c, Float.NaN);
+				final double [][] vxys = coord_motion_rslt[1]; // {dx,dy,strength} per tile or null
+				final double [][] eig =  (coord_motion_rslt.length > 2) ? coord_motion_rslt[2] : null;
+				if (vxys != null) {
+					for (int i = 0; i < num_pix; i++) {
+						if (vxys[i] != null) {
+							comps[0][i] = (float) vxys[i][0];
+							comps[1][i] = (float) vxys[i][1];
+							comps[2][i] = (float) vxys[i][2];
+							comps[3][i] = (float) Math.sqrt(vxys[i][0]*vxys[i][0] + vxys[i][1]*vxys[i][1]);
+						}
+						if ((eig != null) && (eig[i] != null)) { // {eig_x, eig_y, l0, l1}, l0 <= l1
+							final double l0 = eig[i][2], l1 = eig[i][3];
+							comps[4][i] = (float) Math.sqrt(l0);
+							comps[5][i] = (float) Math.sqrt(l1);
+							comps[6][i] = (l0 > 0) ? (float) Math.sqrt(l1/l0) : Float.NaN;
+							double ang = Math.atan2(eig[i][1], eig[i][0]); // precise-axis direction
+							if (ang < 0) ang += Math.PI;                   // fold to [0, PI)
+							comps[7][i] = (float) ang;
+						}
+					}
+				}
+				hyper_scenes.add(comps);
+				hyper_ts.add(ts_name);
+			}
 			// CSV row + comparison stats
 			final double [] st = (stored[nscene] != null) ? stored[nscene][1] : null;
 			sb.append(nscene+", "+ts_name);
@@ -279,6 +331,29 @@ public class CuasPoseRT {
 		} catch (IOException e) {
 			System.out.println("CuasPoseRT.testPoseSequence(): FAILED to save "+csv_path+": "+e.getMessage());
 		}
+		// reliable_tiles selection mask (1=selected), same grid as the DSI
+		{
+			final float [] frel = new float [num_pix];
+			for (int i = 0; i < num_pix; i++) frel[i] = reliable_ref[i] ? 1.0f : 0.0f;
+			final ImagePlus imp_rel = new ImagePlus(center_CLT.getImageName()+"-POSE-RT-RELIABLE",
+					new FloatProcessor(tilesX, tilesY, frel));
+			center_CLT.saveImagePlusInModelDirectory(null, imp_rel); // 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()) {
+			final ImageStack stack_hyper = new ImageStack(tilesX, tilesY);
+			for (int nc = 0; nc < HYPER_COMPONENTS.length; nc++) {
+				for (int ns = 0; ns < hyper_scenes.size(); ns++) {
+					stack_hyper.addSlice(HYPER_COMPONENTS[nc]+":"+hyper_ts.get(ns), hyper_scenes.get(ns)[nc]);
+				}
+			}
+			final ImagePlus imp_hyper = new ImagePlus(center_CLT.getImageName()+"-POSE-RT-HYPER", stack_hyper);
+			imp_hyper.setDimensions(1, hyper_scenes.size(), HYPER_COMPONENTS.length);
+			imp_hyper.setOpenAsHyperStack(true);
+			imp_hyper.getProcessor().resetMinAndMax();
+			center_CLT.saveImagePlusInModelDirectory(null, imp_hyper); // title as filename
+		}
 		System.out.println("CuasPoseRT.testPoseSequence(): scenes OK="+num_ok+", failed(coasted)="+num_fail+
 				", compared="+num_cmp);
 		if (num_cmp > 0) {