Andrey's diagnosis: the composite-vs-DBG sub-pixel warp field (static, sy-
dominated: uniform 0.24px, x-shear, +0.3% y-scale ~ tilt_rate*frame_time)
comes from the ErsCorrection infrastructure - the render path sets each
scene's ERS from the STORED scenes_<ts>_dt (xyz_dt AND atr_dt,
renderSceneSequence/OpticalFlow:10555) while the pose loop used finite-
difference ATR-only rates with xyz_dt=0. Different scene-side ERS by
construction. (Virtual center's own ERS rates confirmed ZERO in corr-xml;
GPU corr_vector imu_rot/imu_move ERS support confirmed present but dormant.)

pose_stored mode now sets setErsDt from ers_center.getSceneErsXYZ_dt/
getSceneErsATR_dt - the exact calls the render uses - so the decoupled
measurement/render applies IDENTICAL poses AND ERS as CUAS-MERGED-CUAS-DBG.
If the warp field collapses in the next pose_stored run, the divergence is
proven. Live (LMA) mode unchanged: finite-difference rates - to be replaced
by rates computed from pose + rotation model (RT design: ErsCorrection
preserved fully, thin non-QuadCLT plumbing; per-sensor ERS available on GPU
via corr_vector imu when fed).

Verified: mvn -DskipTests clean package OK.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>