Where a small foreground object (the 3-tile roadside sign, disp ~22)
stands in front of a distant background both disparities are legitimate,
but for CUAS the background matters: a drone flying exactly behind the
sign must stay detectable. conditionDisparityCuas now detects connected
clusters of local near-outliers (disparity above the local 7x7 median by
curt.disp_fg_over, default 2 px) up to curt.disp_fg_tiles (default 8,
0 = off) tiles and re-fills them with zero-curvature background
disparity (TileProcessor.fillNaNs Laplacian relaxation). All three RT
call sites (render, pose, appropriation) share the one conditioned
source as before.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>