CODEX: Add float pose Jacobian oracle

Co-authored-by: Codex <codex@elphel.com>

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

@@ -40,6 +40,7 @@ import com.elphel.imagej.tileprocessor.ErsCorrection;
 import com.elphel.imagej.tileprocessor.ImageDtt;
 import com.elphel.imagej.tileprocessor.Interscene;
 import com.elphel.imagej.tileprocessor.IntersceneLma;
+import com.elphel.imagej.tileprocessor.IntersceneLmaFloat;
 import com.elphel.imagej.tileprocessor.OpticalFlow;
 import com.elphel.imagej.tileprocessor.QuadCLT;
 import com.elphel.imagej.tileprocessor.QuadCLTCPU;
@@ -833,6 +834,8 @@ public class CuasPoseRT {
 	private static boolean peaks_path_reported = false;
 	// once-per-program console note for the rung-3 normal-equation product path
 	private static boolean lma_products_path_reported = false;
+	// one raw-pixel/J comparison of the float oracle against the current double geometry
+	private static boolean float_jacobian_oracle_reported = false;
 
 	private static int GPUTileProcessorDttSize() {
 		return com.elphel.imagej.gpu.GPUTileProcessor.DTT_SIZE;
@@ -1083,6 +1086,31 @@ public class CuasPoseRT {
 					null,                             // dbg_prefix
 					clt_parameters.imp.debug_level);  // debug_level
 			if (rtProfile != null) rtProfile.addElapsed(RtPoseProfile.LMA_PREPARE, profileStart);
+			if ((clt_parameters.curt.pose_lma_debug >= 1) && !float_jacobian_oracle_reported) {
+				float_jacobian_oracle_reported = true;
+				final boolean [] float_selection = new boolean [cm[0].length];
+				for (int tile = 0; tile < float_selection.length; tile++) {
+					float_selection[tile] = (cm[0][tile] != null) && (cm[1][tile] != null) &&
+							(cm[1][tile].length > 2) && (cm[1][tile][2] > 0.0);
+				}
+				final ErsCorrection reference_ers = center_CLT.getErsCorrection();
+				final ErsCorrection scene_ers = scene.getErsCorrection();
+				final IntersceneLmaFloat.Result float_result = IntersceneLmaFloat.getFxDerivs(
+						IntersceneLmaFloat.Camera.capture(reference_ers),
+						IntersceneLmaFloat.Camera.capture(scene_ers),
+						IntersceneLmaFloat.toFloat3(ZERO3),
+						IntersceneLmaFloat.toFloat3(ZERO3),
+						IntersceneLmaFloat.toFloat3(scene_xyzatr0[0]),
+						IntersceneLmaFloat.toFloat3(scene_xyzatr0[1]),
+						IntersceneLmaFloat.flattenCenters(cm[0]),
+						float_selection,
+						null); // validate raw pixel/J first; eigen transform is a separate layer
+				final IntersceneLmaFloat.Comparison float_comparison = IntersceneLmaFloat.compareToDouble(
+						float_result, reference_ers, scene_ers,
+						ZERO3, ZERO3, scene_xyzatr0[0], scene_xyzatr0[1], cm[0],
+						float_selection, null, -1);
+				System.out.println("CuasPoseRT "+float_comparison);
+			}
 			cycle_rms_meas[nlma] = intersceneLma.getLastRms()[1]; // re-measured pure RMS at this cycle's pose // By Claude on 07/12/2026
 			// pose_lma_debug >= 2: per-inner-step solver lines; header attributes them to
 			// their outer cycle (the solver lines carry no scene/cycle context).

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

@@ -910,6 +910,35 @@ public class ErsCorrection extends GeometryCorrection {
 		
 	}
 
+	/**
+	 * Snapshot the per-line ERS state in the primitive layout used by the float
+	 * pose-Jacobian oracle. Each line contains xyz[3], xyz_dt[3], quaternion[4]
+	 * and quaternion_dt[4]. Package-private on purpose: this is an implementation
+	 * bridge for {@link IntersceneLmaFloat}, not a new public camera API.
+	 */
+	float [] copyErsPoseStateFloat()
+	{
+		setupERS();
+		final int stride = IntersceneLmaFloat.ERS_LINE_STRIDE;
+		final float [] state = new float [pixelCorrectionHeight * stride];
+		for (int line = 0; line < pixelCorrectionHeight; line++) {
+			final int base = line * stride;
+			for (int i = 0; i < 3; i++) {
+				state[base + IntersceneLmaFloat.ERS_XYZ + i] = (float) ers_xyz[line][i];
+				state[base + IntersceneLmaFloat.ERS_XYZ_DT + i] = (float) ers_xyz_dt[line][i];
+			}
+			state[base + IntersceneLmaFloat.ERS_QUAT + 0] = (float) ers_quaternion[line].getQ0();
+			state[base + IntersceneLmaFloat.ERS_QUAT + 1] = (float) ers_quaternion[line].getQ1();
+			state[base + IntersceneLmaFloat.ERS_QUAT + 2] = (float) ers_quaternion[line].getQ2();
+			state[base + IntersceneLmaFloat.ERS_QUAT + 3] = (float) ers_quaternion[line].getQ3();
+			state[base + IntersceneLmaFloat.ERS_QUAT_DT + 0] = (float) ers_quaternion_dt[line].getQ0();
+			state[base + IntersceneLmaFloat.ERS_QUAT_DT + 1] = (float) ers_quaternion_dt[line].getQ1();
+			state[base + IntersceneLmaFloat.ERS_QUAT_DT + 2] = (float) ers_quaternion_dt[line].getQ2();
+			state[base + IntersceneLmaFloat.ERS_QUAT_DT + 3] = (float) ers_quaternion_dt[line].getQ3();
+		}
+		return state;
+	}
+
 	/**
 	 * Match other camera px, py, disparity to the reference one
 	 * @param px horizontal pixel coordinate (right) of the reference camera view
@@ -2758,4 +2787,3 @@ public class ErsCorrection extends GeometryCorrection {
 
 
 
-