Global page assembly with loop closures and lens undistortion

The frame-by-frame stitcher accumulated drift, so later passes landed rotated
and offset, doubling text. myscan/pagegraph.py instead solves all frame poses
together: ECC odometry between consecutive frames (bridging single corrupt
frames), SIFT+RANSAC loop closures between overlapping passes, and a robust
Gauss-Newton pose graph. Loop matches must agree over the whole overlap, which
rejects matches on repeated text. Off-page frames and frames that disagree
with the mosaic are left out of the render.

calib.Undistort applies the EEPROM lens model (OpenCV k1..k3, p1, p2 plus
the tilt homography, as decoded in EEPROM.md); up to 8.8 px at the corners.

scan.py registers frames on a worker thread so capture no longer drops
frames, then assembles the page after the stop press (~11 s for a full
page). stitch.py uses the new assembly by default; --live keeps the old one.

EEPROM.md documents the full calibration blob layout, checksum and signature.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

This commit is contained in:

erik

2026-10-02 13:06:45 +00:00

co-authored by

Claude Opus 5.5

parent e70d56d957

commit 026aa6c894

8 changed files with 781 additions and 36 deletions

requirements.txt

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@@ -1,2 +1,3 @@
 numpy
 opencv-python-headless
 scipy