leanMeasure (uniform-MB lean path, JNA backend): the per-cycle CPU front
end - transformToScenePxPyD (full 5120-tile grid), setInterTasksMotionBlur
+ sort, and the two task H2D uploads - is replaced by ONE
gpuQuad.execPoseTaskUpdate() call: pose_task_update projects the
per-sequence template on-device from the Java-tracked measure pose and
rewrites both resident task slots in place; geometry + convert then run
on ACTIVATED slots with no upload (ImageDtt.interCorrTDResident). Per
cycle the only H2D left is the 12-float pose vector. Per scene:
setupERS + camera-block upload (rung C2 registers, shared with
prepare_resident) + skeleton slot re-upload (~120 KB, guards against
other pipeline stages using the task slots between scenes). The
per-scene uniform-MB 6-float descriptor replicates the exact
setInterTasksMotionBlur double crank math; margin/projection failures
become task=0 holes (missing peak -> conditioning abstains, D3 design).
Fallbacks: JCuda backend, pose_mb_uniform off, NaN/non-uniform MB
(degenerate uniformMotionBlur fallback) -> unchanged legacy CPU build.

- GpuQuad/GpuQuadJna/TpJna: execPoseTaskUpdate + activateTaskSlot
  (base returns false; JNA marshals rung-C2 nullable groups).
- IntersceneLmaFloat.buildTasks: serial float task-build oracle (the
  Java float clone of the kernel, worldFromPixel -> pixelFromWorld +
  descriptor/margin/hole packing).
- One-shot oracle at pose_lma_debug>=1: GPU stream vs the legacy Java
  DOUBLE build (txy-matched field compare, D3 gate <=1e-5 px print) and
  vs the float-serial clone; once-per-program path-active note.
- pose_corr export stays the explicit diagnostic exception: armed runs
  read the GPU-built pre-offset streams back and capture task words RAW
  (new iterTasksPre or511 overload - a |511-ed hole would diverge in a
  tol-0 replay).

mvn -DskipTests clean package: BUILD SUCCESS. Real-scene gate (D3,
ratified): poses < 0.003 px drift, aggregate RMS unchanged at print
precision, same QC count, 497/497 - Andrey's run.

CUDA side: tile_processor_gpu lwir16_2 @ ef36688 (kernel + JNA API +
two-tier tests, all regressions PASS incl. pose_corr @tol 0).
Design: internal handoffs/2026-07-16_3b_measure_chain_residency_design.md.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>