Hama myScan Linux driver tools: scan mode, frame decoding, stitching

UVC extension-unit control (mouse/scan mode, LEDs, exposure), JPEG header
fix and embedded laser record decoding, session recorder, and a stitcher
that combines laser dead reckoning with phase correlation and ECC refinement.
FINDINGS.md holds the reverse-engineered protocol and laser calibration.

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

.gitignore

@@ -0,0 +1,13 @@
+.venv/
+__pycache__/
+*.pyc
+
+# Proprietary vendor binaries (Dacuda installer / Mac app) - not redistributable
+*.exe
+vendor/
+
+# Raw capture frames; keep only the sensor log and stitched result of the sample session
+capture/
+scan_text/*
+!scan_text/records.csv
+!scan_text/page.png

FINDINGS.md

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+# Hama myScan scanner mouse: reverse-engineering findings
+
+Status as of 2026-10-02: **scanning works on Linux.** The stock `uvcvideo` and
+`hid-generic` drivers handle the device. A small user-space tool switches the
+mouse into scan mode (LED illumination plus per-frame sensor data) through the
+UVC extension unit. Everything needed was reverse engineered from the
+**Dacuda Scanner Mouse for Mac 2.4** package (see "The real driver" below).
+What remains is software: auto-exposure and stitching frames into a page.
+
+## Quick reference: how to scan
+
+All access goes through UVC extension unit 6, selector 2 (5 bytes), using
+`UVCIOC_CTRL_QUERY` on the video node. See `myscan/xu.py`.
+
+```
+bridge write : SET_CUR [0x00, reg, 0, value, 0]
+bridge read  : SET_CUR [0x80, reg, 0, 0, 0]  then GET_CUR -> value in byte 3
+```
+
+Start scanning, exactly as `Hal::OVMouseManager::startVideo` does:
+
+1. write `D8 = 0x00`, poll `D8` until it reads `0xFF` ("disable mouse", standby)
+2. write `2D = 0x60` and `E7 = 0x28` (each one is read back to verify)
+3. optionally write `E6` = exposure (`round(ms × 49.23)`, 0–255 ≈ 0–5.2 ms)
+4. write `D8 = 0xE1`, poll until `0x99`; then stream MJPEG from `/dev/videoN`
+
+Stop: write `D8 = 0xE0`, poll until `0x11` (normal mouse mode again; `0x11`
+is also the idle value after plugging in).
+
+Verified on the device: the acks come back exactly as expected (`FF`, `99`,
+`11`), frames light up in proportion to `E6`, and each frame carries a live
+sensor record (see "Embedded sensor record").
+
+## Hardware probing results (device attached)
+
+### USB identity
+
+```
+idVendor=274f idProduct=c001 bcdDevice=c6.16
+Manufacturer: Omnivision   Product: Scanner Mouse
+```
+
+High-speed USB 2.0, one configuration, max power 500 mA. It's a composite
+device, and the kernel binds it without any extra driver:
+
+| Interface | Class | Kernel driver | Notes |
+|---|---|---|---|
+| 0 | Video Control (UVC 1.00) | `uvcvideo` | Interrupt status EP 0x82; one vendor extension unit |
+| 1 | Video Streaming | `uvcvideo` | Isochronous EP 0x81, 3×1020 B; MJPEG only |
+| 2 | HID mouse | `hid-generic` | Interrupt EP 0x83 |
+
+dmesg notes "UVC non compliance - GET_DEF(PROBE) not supported", which the
+kernel works around automatically.
+
+### Video format and the bogus JPEG header
+
+- The only format is MJPEG, **640×296 at 30 fps** (`dwMaxVideoFrameBufferSize`
+  378,880 = 640×296×2).
+- Each frame is a complete JPEG (FFD8 … FFD9, about 4.6–18 KB, YCbCr 4:2:2),
+  **but its SOF0 header claims 480×640**. Decoded as-is, the image looks
+  smeared and the data runs out after 400 rows, because 1500 MCUs of 16×8 at
+  480 px wide make 400 rows.
+- **Fix:** rewrite the SOF0 height/width fields to 296/640 before decoding.
+  That gives clean 640×296 frames, with the 1500 MCUs filling 40 × 37.5 MCU
+  rows:
+
+  ```python
+  i = raw.find(b'\xff\xc0')
+  raw = raw[:i+5] + (296).to_bytes(2,'big') + (640).to_bytes(2,'big') + raw[i+9:]
+  ```
+- The image is effectively grayscale (all channels equal).
+
+Verified: a frame taken with the mouse lifted toward a window clearly shows
+window blinds. A frame taken while sliding over printed text shows text
+strokes (motion-blurred, because the exposure is long).
+
+### Illumination (solved)
+
+In mouse mode the LEDs are off and frames are almost black (mean ≈ 8/255).
+In scan mode the LEDs are strobed for the exposure window set in bridge
+register `E6`. The power-on default is `E6 = 5` (≈ 0.1 ms), which is still
+nearly black. Measured brightness (mean / max) on a dark fabric mousepad:
+
+| E6 | exposure | mean | max |
+|---|---|---|---|
+| 5 | 0.10 ms | 8.9 | 24 |
+| 40 | 0.81 ms | 22.4 | 141 |
+| 120 | 2.44 ms | 51.2 | 228 |
+| 255 | 5.18 ms | 89.7 | 250 |
+
+The Mac app runs a PID auto-exposure loop over `E6` (strings `pidGainP/I/D`,
+`exposureTimeUsMin/Max`) and stores per-device calibration in the mouse's
+EEPROM ("HardwareData": `exposureTimeUs`, `imagerGain`, laser scaling, …).
+
+### UVC controls
+
+- The Input Terminal (camera) and Processing Unit advertise **no** standard
+  controls, so there are no exposure, gain or brightness controls through V4L2.
+- **Extension Unit ID 6, GUID `dd880f8a-1cba-4954-8a25-f7875967f0f7`, 3 controls**
+  (queried with `UVCIOC_CTRL_QUERY` on `/dev/video4`):
+
+| Selector | Length | Info (GET/SET) | GET_CUR | Interpretation |
+|---|---|---|---|---|
+| 1 | 20 | 0x01 (GET only) | `020c0616 01070000 4f2701c0 0038f501 00774242` | Device info: contains VID/PID; `02 0c 06 16` matches bcdDevice c616 (firmware version/date?) |
+| 2 | 5 | 0x03 (GET+SET) | `8f311c6900` (constant) | Unknown; possibly a register address/value or command register |
+| 3 | 33 | 0x03 (GET+SET) | read stalls (EPROTO) | Probably a command/response buffer: write first, then read |
+
+MIN/DEF are all zeros, MAX all 0xFF, RES 1, so they say nothing useful.
+Selector 2 turned out to be the register-access channel and selector 3 a
+buffer channel; see "The real driver" for the full protocol.
+
+### HID mouse
+
+Report descriptor (73 bytes): 5 buttons + 3 padding bits, int16 X, int16 Y,
+int8 wheel, int8 AC Pan. There is no report ID, and reports are 7 bytes:
+
+```
+byte 0: buttons   bit0 left, bit1 right, bit2 middle, bit3/4 side,
+                  bit7 = SCAN BUTTON (not declared in the descriptor)
+byte 1-2: dX (int16 LE)   byte 3-4: dY (int16 LE)   byte 5: wheel   byte 6: pan
+```
+
+The scan button sits in the "padding" bits, so the kernel's input layer
+ignores it. It can only be read through `/dev/hidrawN`. Motion reports stop
+when the mouse is lifted (laser lift-off detection). The 16-bit deltas at up
+to ~125 Hz give a position track that can seed the frame stitching.
+
+### Tooling
+
+- `myscan/xu.py`: extension-unit register access and the scan-mode state machine.
+- `myscan/frame.py`: JPEG header fix plus embedded sensor-record decoder.
+- `tools/scantest.py`: enter scan mode, grab frames, restore mouse mode.
+- `tools/probe.py` records raw frames and HID reports side by side (with
+  `frames.csv` / `hid.csv` timelines). Run it as
+  `.venv/bin/python tools/probe.py -d 60 -o capture`.
+- `capture/` holds a 60 s recording: resting on paper, sliding over text,
+  button presses, and lifted toward a window.
+
+### Container passthrough (Incus, container `ai`)
+
+```sh
+incus config device add ai myscan-usb    usb       vendorid=274f productid=c001 mode=0666
+incus config device add ai myscan-video4 unix-char source=/dev/video4 path=/dev/video4 mode=0666 required=false
+incus config device add ai myscan-video5 unix-char source=/dev/video5 path=/dev/video5 mode=0666 required=false
+incus config device add ai myscan-hidraw unix-char source=/dev/hidraw8 path=/dev/hidraw8 mode=0666 required=false
+```
+
+The node numbers can change when the mouse is replugged.
+
+---
+
+## The real driver: Dacuda Scanner Mouse for Mac 2.4
+
+- **Source:** the Wayback Machine has `Dacuda-ScannerMouse-Mac-V2.4.0.411.dmg`
+  (484 MB, archived 2016-05-23), linked from Dacuda's archived "scanner mouse
+  get started" page. The matching Windows `Dacuda-ScannerMouse-Win-V2.4.0.413.exe`
+  was never archived. The DMG is saved in `vendor/`, with the unpacked app in
+  `vendor/mac/payload/Scanner_Mouse.app`.
+- **Key binaries:**
+  - `Contents/Frameworks/UVCControl.framework`: Omnivision's camera-control
+    library (author path `/Developer/usr/hslee4/UVCControl_110619/`), with
+    full symbols, fat x86_64/i386/ppc. Classes `UVCCameraControl` and
+    `CameraControlAppDelegate`, C API `OVIF_*`, plus `DaMouseCIF.m`.
+  - `Contents/MacOS/Scanner Mouse` (i386 only, 33 MB, Qt5): the app. Its
+    hardware layer is `Hal::OVMouseManager`
+    (`libs/Hal/Driver/LuckyCat/OVMouseManager.cpp`), used through `HalFree`.
+
+### UVCControl.framework: the transport layer
+
+All requests are class requests to interface 0, unit 6
+(`bmRequestType 0x21/0xA1`, `wIndex 0x0600`):
+
+| Method | Request |
+|---|---|
+| `UVCWriteUSBReg:withValue:` | SET_CUR sel 2 `[0x00, reg, reg>>8, val, 0]` |
+| `UVCReadUSBReg:withValue:` | SET_CUR sel 2 `[0x80, reg, …]`, then GET_CUR sel 2; value = byte 3 |
+| `UVCWriteSensorReg:withValue:` | SET_CUR sel 2 `[0x01, reg, reg>>8, val, 0]` |
+| `UVCReadSensorReg:withValue:` | SET_CUR sel 2 `[0x81, reg, …]`, then GET_CUR; value = byte 3 |
+| `UVCWriteBuf:` / `UVCReadBuf:` | SET_CUR / GET_CUR sel 3, variable length |
+| `UVCGetExtensionInfo:` | GET_CUR sel 1 |
+
+`OVIF_SCCBRead/Write(id, reg, …)`: **id `0x88` is a pseudo-ID meaning "bridge
+registers"**. Any other id is a real SCCB slave: the library first writes
+bridge register `0xF1 = id`, then uses the sensor-register commands.
+`OVIF_GetScanBtnStatus` reads bridge register `0xBC`, bit 0.
+
+### Mouse-controller registers (bridge registers, the app's "SCCB 0x88")
+
+| Reg | Use in the app |
+|---|---|
+| `D8` | Command/status: `00`→`FF` disable mouse (standby); `E1`→`99` start scan streaming; `E0`→`11` enable mouse; `ED`/`EC` security check (`performSecurityCheck`, challenge/response via `A1`–`A5`) |
+| `2D` | Written `0x60` before starting a scan (default `0x20`) |
+| `E7` | Written `0x28` before starting a scan (default already `0x28`) |
+| `E6` | Exposure / LED on-time: `floor(ms × 49.23 + 0.5)` (`OVMouseManager::setExposureTime`) |
+| `DC` | Laser readout position (`setLaserReadPosition`; refused while streaming) |
+| `BC` | Bit 0 = scan button |
+| `BD`/`BE`/`B8` | Proxy to the OV image sensor (SCCB 0x42): `BD` = register, `BE` = value, `B8` = 1 write / 2 read, with a status poll before |
+
+Image-sensor registers used (via the proxy): `0x00` gain, `0x01`–`0x03` colour
+gains, `0x16`/`0x19` window position (`setYBaseOffset`). These follow the
+standard OV76xx/77xx register map.
+
+### Embedded sensor record (per frame)
+
+`OVJpegSrcPreProc` and `DaReadMouseData` in UVCControl. In scan mode the
+firmware hides a 20-byte record in each JPEG's headers:
+
+- SOF0 height/width bytes (4 bytes) carry: frame counter, plus 3 "mode" bytes.
+  The app restores them to height 296, width 640.
+- Entries 49–63 (offset `0x36..0x44` from the `FF DB` marker) of the
+  **second** DQT carry 15 bytes. The app restores them to `0x19`.
+- Each payload byte is decoded with `OVSPCal` using a 2-bit mode from the
+  SOF bytes and one bit from the first three DQT bytes. Implemented in
+  `myscan/frame.py`.
+
+Record layout after decoding (field names from app strings
+`laser1Dx/laser1Dy/laser1Sq/laser2…`):
+
+| Bytes | Content |
+|---|---|
+| 0 | frame counter (increments by 1 per frame; verified) |
+| 2–3, 4–5 | big-endian 16-bit: laser 1 dX, dY (presumably) |
+| 8–9, 10–11 | big-endian 16-bit: laser 2 dX, dY (presumably) |
+| 14, 15 | laser 1 / laser 2 surface quality (≈155–164 on fabric; verified to vary) |
+| 16 | unknown |
+| 17 | 5 flag bits (buttons / state) |
+| 19 | set by the app when a frame was dropped (counter gap) |
+
+In mouse mode the headers are plain (480×640, standard tables), so the record
+decodes to constants.
+
+---
+
+# Original analysis of the supplied installer
+
+## Device background
+
+- **Product:** Hama myScan, Hama article no. 00052343. It is a 4-button, 1200 dpi
+  laser mouse with a built-in hand scanner (scan area about 2 × 4 cm, scan
+  resolutions 100/200/320/400 dpi).
+- **Real manufacturer:** Dacuda AG (Zürich, Switzerland). Dacuda designed the
+  scanner-mouse hardware and its "SLAM Scan" stitching/OCR software and licensed
+  it to other brands.
+- **Sister products from the same Dacuda platform:**
+  - LG LSM-100 "Smart Scan" mouse (sold with the LG Smart Scan software, Windows only)
+  - probably the IRIScan Mouse (I.R.I.S.)
+- Products of this kind use a small CMOS camera to capture frames of the page.
+  The host software stitches the frames together using the mouse's position.
+
+## The supplied file: `00052343_wxpvista78_v2_3_2.exe`
+
+| Property | Value |
+|---|---|
+| Size | 2,046,568 bytes |
+| Format | PE32, i386, GUI. A plain executable, not an installer archive. |
+| Framework | wxWidgets, MSVC 9 (VC90 CRT) |
+| Signed by | Dacuda (Comodo code-signing certificate, contact `lionel.roll@dacuda.com`) |
+| PDB path | `D:\JENKINS\jobs\OnlineInstallerClient-Master\workspace\ScanMouse\bin\Release\HAM_Scanner_Mouse_Online_Installer.pdb` |
+| Window title | "Scanner Mouse Driver Installer" |
+
+### What it does
+
+1. **Lists USB devices.** It opens the host controllers directly (`\\.\HCD%d`)
+   and walks the hub tree with `DeviceIoControl`, collecting each device's
+   descriptor (`wVendorID`, `wProductID`, `bDeviceClass`, …). With `-v`
+   (verbose) it writes the list to `%TEMP%/connectedDevices.txt`. Other
+   command-line flags are `-d` (developer) and `-h` (help).
+2. **Asks the update server about every device.** The function at VA
+   `0x404c90` loops over **all** connected devices and appends each one to the
+   query (the `VID=` reference is at `0x404e9d`, `&PID=` at `0x404eba`):
+
+   ```
+   http://updater.dacuda.com/onlineinstaller_list?VID=<vid>&PID=<pid>&VID=...
+   ```
+
+   The path string `/onlineinstaller_list` is referenced at `0x403baa`.
+   **There is no local VID/PID filter.** The server decided which driver
+   matched the hardware.
+3. **Downloads the real driver.** It saves the package as `\online.exe` in a
+   temp directory and runs it. The status text reads "Downloading Scanner
+   Mouse Driver (incl. 198 recognition languages)...".
+
+If no matching device is found, it shows "Please connect the Scanner Mouse
+and run the installer again."
+
+### Conclusion
+
+The executable contains **no scanning protocol, no device IDs and no image
+handling**. There is nothing in it to build a Linux driver from.
+
+## Status of download sources
+
+| Source | Result (2026-10-02) |
+|---|---|
+| `http://updater.dacuda.com/onlineinstaller_list?...` | HTTP 404. The hostname now points at Google hosting (`ghs.googlehosted.com`); the service is gone. |
+| `http://www.hama.de/scannermaus` (the download URL given in Hama's docs) | 404 |
+| Hama product pages for 00052343 | 404 |
+| Wayback Machine (CDX query for `updater.dacuda.com*`) | Archive was "Temporarily Offline". **Retry this.** |
+| Web search for driver mirrors or existing Linux work | Nothing found. The LG LSM-100 was only ever supported on Windows. |
+
+## Next steps (original plan; A.1–A.3 are now done, see the top of this file)
+
+### A. Probe the hardware directly (needs the mouse connected)
+
+1. Dump the USB descriptors (install `usbutils` first, then run `lsusb -v -d <vid>:<pid>`).
+   Look for interfaces besides the standard HID mouse: a vendor-specific class
+   (0xFF) with bulk/interrupt endpoints, a video-class interface (UVC), or a
+   second HID interface with large reports.
+2. Check whether the scan button changes what the device reports or how it
+   enumerates.
+3. Use pyusb/libusb to read from the extra endpoints and try to capture raw
+   sensor frames. Then work out the frame format (size, bit depth) by
+   rendering the frames as images.
+4. If frames come through, write a Linux tool that grabs frames together with
+   the mouse position, stitches them, and optionally runs OCR with Tesseract.
+
+### B. Find the real Windows driver (fastest route if it turns up)
+
+- Retry the Wayback Machine for `updater.dacuda.com/*` and the Hama download pages.
+- Look for the LG Smart Scan or IRIScan Mouse software. Being on the same
+  Dacuda platform, they probably share the USB protocol.
+- Any old CD, any copy of `online.exe`, or an installed "Scanner Mouse"
+  program folder from a Windows machine would do. The protocol could then be
+  read out of the real driver.
+- With a working Windows setup (a VM with USB passthrough is enough), capturing
+  traffic with Wireshark + USBPcap during a scan would show the protocol
+  directly.
+
+## References
+
+- Hama myScan manual: https://www.manualslib.de/manual/56025/Hama-116600.html
+- Hama myScan review (PL): https://www.videotesty.pl/recenzja/1442/hama-myscan-myszi-skaner-w-jednym/
+- Dacuda background: https://www.venturekick.ch/Worldwide-renowned-scanner-mice
+- LG LSM-100 review: https://www.computing.co.uk/review/2122872/review-lg-lsm-100-scanner-mouse
+- LG Scanner Mouse review: https://www.itpro.com/637726/lg-scanner-mouse-review
+
+## Laser calibration & stitching (2026-10-02, recording scan_text/)
+
+- Record v0/v1 = laser 1 cumulative (a, b) counts, v3/v4 = laser 2; signed 16-bit, wrapping. ~3 counts per frame pixel.
+- Frame content shift: dx = -0.022*a - 0.355*b, dy = 0.324*a + 0.002*b (a, b = mean of both lasers).
+- Rotation: dtheta ≈ -4.4e-4 rad * (b1 - b2) (fit against ORB rotation over 10-30 frame windows; corr ~0.88).
+- At fast motion (~25 px/frame) the lasers disagree (one over-counts by ~40%), so stitch.py checks each step against
+  frame-to-frame phase correlation, then ECC-refines every frame against the canvas.
+- Frames are transposed + mirrored relative to the page; output = flip(transpose(canvas), -1).
+- `tools/stitch.py <dir>` -> <dir>/page.png. Full 751-frame session stitches cleanly.

README.md

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+# myscan
+
+Linux driver tools for the Hama myScan (00052343) scanner mouse, a Dacuda design
+(USB 274f:c001: UVC MJPEG camera + HID mouse).
+
+- `myscan/xu.py` — UVC extension-unit access: switch between mouse and scan mode, LEDs, exposure
+- `myscan/frame.py` — fix the lying JPEG header and decode the per-frame sensor record (laser dx/dy)
+- `myscan/stitch.py` — assemble frames into a page image (laser dead reckoning + image registration)
+- `tools/record.py` — record a scan session: `python tools/record.py -d 25 -o scan_text`
+- `tools/stitch.py` — stitch a recording: `python tools/stitch.py scan_text` -> `scan_text/page.png`
+- `tools/probe.py` — log raw frames and HID reports side by side
+- `tools/scantest.py` — minimal scan-mode test: grab frames, decode records, restore mouse mode
+
+See [FINDINGS.md](FINDINGS.md) for the protocol and calibration notes.
+
+Setup: `python -m venv .venv && .venv/bin/pip install -r requirements.txt`

myscan/frame.py

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+"""Decode Hama myScan / Dacuda scanner-mouse MJPEG frames.
+
+The firmware hides a per-frame sensor record in the JPEG headers (reverse
+engineered from OVJpegSrcPreProc / DaReadMouseData in Omnivision's
+UVCControl.framework shipped with the Dacuda Scanner Mouse Mac app):
+
+* SOF0 height/width bytes carry 4 data bytes; the true size is 640x296.
+* Entries 0x36..0x44 (relative to the FF marker) of the second DQT carry
+  15 more data bytes; the true table value there is 0x19.
+"""
+import struct
+from dataclasses import dataclass
+
+WIDTH, HEIGHT = 640, 296
+
+
+def _spcal(v, mode, bit):
+    # OVSPCal: undo the encoding that keeps quant-table bytes legal.
+    if mode == 2:
+        r = max(v - 1, 0) * 4 + 2
+    elif mode == 3:
+        r = max(v - 1, 0) * 4 + 3
+    elif mode == 1:
+        r = v * 4 + 1
+    else:
+        r = v * 4
+    return ((r & 0xFB) | ((bit & 1) << 2)) & 0xFF
+
+
+@dataclass
+class SensorRecord:
+    counter: int
+    v: tuple          # six big-endian 16-bit values; [2] and [5] are not transmitted
+    b14: int
+    b15: int
+    b16: int
+    flags: int        # five flag bits (byte 17)
+    raw: bytes
+
+
+def fix_and_extract(jpeg: bytes):
+    """Return (clean_jpeg, SensorRecord | None)."""
+    buf = bytearray(jpeg)
+    s = bytearray(32)
+    have = 0
+    dqt = 0
+    i = 0
+    n = min(len(buf), 40000)
+    while i < n - 1:
+        if buf[i] == 0xFF:
+            m = buf[i + 1]
+            if m == 0xD8:
+                have |= 1
+            elif m == 0xC0:
+                have |= 2
+                s[0], s[0x14], s[0x15], s[0x16] = buf[i + 5:i + 9]
+                buf[i + 5:i + 9] = struct.pack('>HH', HEIGHT, WIDTH)
+            elif m == 0xDB:
+                dqt += 1
+                if dqt == 2:
+                    have |= 4
+                    d = buf[i + 0x36:i + 0x45]
+                    for dst, src in zip((0x18, 0x19, 0x1A, 2, 3, 4, 5, 8, 9, 10, 11, 14, 15, 16, 17), d):
+                        s[dst] = src
+                    buf[i + 0x36:i + 0x45] = b'\x19' * 15
+            if have == 7:
+                break
+        i += 1
+    if have != 7:
+        return bytes(buf), None
+
+    # Each data byte gets a 2-bit mode from bytes 0x14..0x16 and one bit from 0x18..0x1a.
+    plan = [(2, 0x14, 6, 0x18, 5), (3, 0x14, 4, 0x18, 4), (4, 0x14, 2, 0x18, 3), (5, 0x14, 0, 0x18, 2),
+            (8, 0x15, 6, 0x18, 1), (9, 0x15, 4, 0x19, 5), (10, 0x15, 2, 0x19, 4), (11, 0x15, 0, 0x19, 3),
+            (14, 0x16, 6, 0x19, 2), (15, 0x16, 4, 0x19, 1), (16, 0x16, 2, 0x1A, 5), (17, 0x16, 0, 0x1A, 4)]
+    for dst, mreg, msh, breg, bsh in plan:
+        s[dst] = _spcal(s[dst], (s[mreg] >> msh) & 3, s[breg] >> bsh)
+    vals = tuple((s[2 * k + 2] << 8) | s[2 * k + 3] for k in range(6))
+    rec = SensorRecord(s[0], vals, s[14], s[15], s[16], s[17] & 0x1F, bytes(s[:20]))
+    return bytes(buf), rec

myscan/stitch.py

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+"""Assemble scan frames into a page image.
+
+Poses come from dead reckoning on the two laser sensors embedded in each
+frame's record (see frame.py), then each frame is refined against the canvas
+built so far with ECC (Euclidean model) before it is blended in.
+
+Laser calibration (from scan_text, 2026-10-02; fit against image registration):
+  v0/v1 = laser 1 cumulative (a, b) counts, v3/v4 = laser 2; 16-bit wrapping.
+  content shift between consecutive frames, in frame pixels:
+      dx = -0.022*a - 0.355*b,   dy = 0.324*a + 0.002*b   (a, b = mean of both lasers)
+  image rotation (rad) = ROT_GAIN * (db1 - db2)
+"""
+import numpy as np
+import cv2
+
+SHIFT = np.array([[-0.0222, -0.3551],    # dx from (a, b)
+                  [0.3239, 0.0020]])     # dy from (a, b)
+ROT_GAIN = -4.4e-4
+
+
+def _s16(v):
+    v = np.asarray(v, np.int64) & 0xFFFF
+    return np.where(v >= 0x8000, v - 0x10000, v)
+
+
+def laser_deltas(v):
+    """v: (N, 6) record values -> (N, 4) per-frame deltas (a1, b1, a2, b2); first row zero."""
+    p = _s16(np.asarray(v)[:, [0, 1, 3, 4]])
+    d = np.diff(p, axis=0, prepend=p[:1])
+    return (d + 0x8000) % 0x10000 - 0x8000
+
+
+def _aff(theta, tx, ty):
+    c, s = np.cos(theta), np.sin(theta)
+    return np.array([[c, -s, tx], [s, c, ty], [0, 0, 1.0]])
+
+
+def laser_shift(d):
+    """Content shift (dx, dy) in frame pixels predicted from one frame's laser deltas."""
+    return SHIFT @ ((d[0] + d[2]) / 2, (d[1] + d[3]) / 2)
+
+
+def relative_motion(d, center, rot_gain=ROT_GAIN, shift=None):
+    """3x3 transform mapping current-frame pixels to previous-frame pixels.
+    shift overrides the laser-predicted content shift."""
+    dx, dy = laser_shift(d) if shift is None else shift
+    th = rot_gain * (d[1] - d[3])
+    cx, cy = center
+    # content moved by (dx, dy) and rotated by th about the center: p_prev = R(-th)(p - c - d) + c
+    return _aff(0, cx, cy) @ _aff(-th, 0, 0) @ _aff(0, -cx - dx, -cy - dy)
+
+
+def _feather(h, w):
+    y = np.minimum(np.arange(h), np.arange(h)[::-1]) + 1
+    x = np.minimum(np.arange(w), np.arange(w)[::-1]) + 1
+    return np.minimum.outer(y, x).astype(np.float32).clip(max=40) / 40
+
+
+class Stitcher:
+    def __init__(self, frame_shape, margin=600, refine=True, rot_gain=ROT_GAIN):
+        self.h, self.w = frame_shape
+        self.refine, self.rot_gain = refine, rot_gain
+        self.size = (self.w + 2 * margin, self.h + 2 * margin)   # grows as needed
+        self.acc = np.zeros(self.size[::-1], np.float32)
+        self.wsum = np.zeros_like(self.acc)
+        self.pose = _aff(0, margin, margin)                       # frame -> canvas
+        self.feather = _feather(self.h, self.w)
+        self.window = cv2.createHanningWindow((self.w, self.h), cv2.CV_32F)
+        self.prev = None
+        self.n = 0
+        self.stats = {"refined": 0, "rejected": 0, "skipped": 0, "image_shift": 0}
+
+    def _grow(self, M):
+        corners = np.array([[0, 0, 1], [self.w, 0, 1], [0, self.h, 1], [self.w, self.h, 1.0]]).T
+        q = (M @ corners)[:2]
+        pad = 400
+        left = int(max(0, pad - q[0].min())) if q[0].min() < 50 else 0
+        top = int(max(0, pad - q[1].min())) if q[1].min() < 50 else 0
+        right = int(max(0, q[0].max() + pad - self.size[0])) if q[0].max() > self.size[0] - 50 else 0
+        bottom = int(max(0, q[1].max() + pad - self.size[1])) if q[1].max() > self.size[1] - 50 else 0
+        if left or top or right or bottom:
+            self.acc = cv2.copyMakeBorder(self.acc, top, bottom, left, right, cv2.BORDER_CONSTANT, 0)
+            self.wsum = cv2.copyMakeBorder(self.wsum, top, bottom, left, right, cv2.BORDER_CONSTANT, 0)
+            self.size = self.acc.shape[::-1]
+            shift = _aff(0, left, top)
+            self.pose = shift @ self.pose
+            return shift @ M
+        return M
+
+    def _refine(self, frame, M):
+        # Canvas content seen through the predicted pose, in frame coordinates.
+        Mi = np.linalg.inv(M)[:2]
+        acc = cv2.warpAffine(self.acc, Mi, (self.w, self.h), flags=cv2.INTER_LINEAR)
+        ws = cv2.warpAffine(self.wsum, Mi, (self.w, self.h), flags=cv2.INTER_LINEAR)
+        mask = ws > 0.3
+        if mask.mean() < 0.3:
+            self.stats["skipped"] += 1
+            return M
+        patch = np.where(mask, acc / np.maximum(ws, 1e-6), 0).astype(np.float32)
+        W = np.eye(2, 3, dtype=np.float32)
+        try:
+            _, W = cv2.findTransformECC(patch, frame.astype(np.float32), W, cv2.MOTION_EUCLIDEAN,
+                                        (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 60, 1e-4),
+                                        mask.astype(np.uint8), 5)
+        except cv2.error:
+            self.stats["rejected"] += 1
+            return M
+        # patch(x) ~ frame(W x), patch pixel x sits at canvas M x, so frame pixel y sits at M W^-1 y.
+        W3 = np.vstack([W, [0, 0, 1]]).astype(np.float64)
+        if abs(np.arctan2(W3[1, 0], W3[0, 0])) > np.radians(3) or np.hypot(W3[0, 2], W3[1, 2]) > 25:
+            self.stats["rejected"] += 1
+            return M
+        self.stats["refined"] += 1
+        return M @ np.linalg.inv(W3)
+
+    def add(self, frame, deltas):
+        frame = frame.astype(np.float32)
+        if self.n:
+            # At speed the lasers can disagree with each other (one over-counts), so check
+            # the translation against frame-to-frame phase correlation.
+            shift = None
+            (dx, dy), resp = cv2.phaseCorrelate(self.prev, frame, self.window)
+            if resp > 0.2 and np.hypot(*(laser_shift(deltas) - (dx, dy))) > 2:
+                shift = (dx, dy)
+                self.stats["image_shift"] += 1
+            M = self.pose @ relative_motion(deltas, (self.w / 2, self.h / 2), self.rot_gain, shift)
+            M = self._grow(M)
+            if self.refine:
+                M = self._refine(frame, M)
+        else:
+            M = self.pose
+        self.pose = M
+        self.prev = frame
+        self.acc += cv2.warpAffine(frame * self.feather, M[:2], self.size, flags=cv2.INTER_LINEAR)
+        self.wsum += cv2.warpAffine(self.feather, M[:2], self.size, flags=cv2.INTER_LINEAR)
+        self.n += 1
+
+    def image(self, background=255):
+        out = np.where(self.wsum > 0.05, self.acc / np.maximum(self.wsum, 1e-6), background)
+        out = out.clip(0, 255).astype(np.uint8)
+        ys, xs = np.nonzero(self.wsum > 0.05)
+        if len(ys):
+            out = out[ys.min():ys.max() + 1, xs.min():xs.max() + 1]
+        # Frames arrive transposed and mirrored relative to the page.
+        return cv2.flip(cv2.transpose(out), -1)

myscan/xu.py

@@ -0,0 +1,104 @@
+"""Register access for the Hama myScan / Dacuda scanner mouse via its UVC extension unit.
+
+Reverse engineered from Omnivision's UVCControl.framework (Dacuda Scanner Mouse
+for Mac 2.4). Extension unit 6 (GUID dd880f8a-1cba-4954-8a25-f7875967f0f7):
+
+  selector 1  20 bytes, GET only   device info block
+  selector 2   5 bytes, GET/SET    register access: [cmd, addr_lo, addr_hi, value, 0]
+                                   cmd 0x00/0x80 = bridge ("USB") register write/read
+                                   cmd 0x01/0x81 = SCCB register write/read
+                                   reads: SET_CUR the request, then GET_CUR; value in byte 3
+  selector 3  33 bytes, GET/SET    buffer access (write first, then read)
+
+The SCCB slave used by cmd 0x01/0x81 is selected by bridge register 0xF1
+(0x42 = the OV image sensor). The app's SCCB "device 0x88" is a pseudo-ID that
+maps to the bridge registers (cmd 0x00/0x80); that is where the mouse MCU's
+command/status registers (0xD8, 0xBC, ...) live. The app reaches the image
+sensor through the MCU's proxy registers (0xBD/0xBE/0xB8).
+"""
+import ctypes
+import fcntl
+import os
+import time
+
+UNIT = 6
+SEL_INFO, SEL_REG, SEL_BUF = 1, 2, 3
+_SET_CUR, _GET_CUR = 0x01, 0x81
+_UVCIOC_CTRL_QUERY = 0xC0107521  # _IOWR('u', 0x21, struct uvc_xu_control_query)
+
+MCU = 0x88
+SENSOR = 0x42
+
+
+class _Query(ctypes.Structure):
+    _fields_ = [("unit", ctypes.c_uint8), ("selector", ctypes.c_uint8),
+                ("query", ctypes.c_uint8), ("size", ctypes.c_uint16),
+                ("data", ctypes.c_void_p)]
+
+
+class XU:
+    def __init__(self, dev="/dev/video4"):
+        self.fd = os.open(dev, os.O_RDWR)
+
+    def close(self):
+        os.close(self.fd)
+
+    def _query(self, sel, query, data):
+        buf = (ctypes.c_uint8 * len(data))(*data)
+        q = _Query(UNIT, sel, query, len(data), ctypes.cast(buf, ctypes.c_void_p))
+        fcntl.ioctl(self.fd, _UVCIOC_CTRL_QUERY, q)
+        return bytes(buf)
+
+    def info(self):
+        return self._query(SEL_INFO, _GET_CUR, bytes(20))
+
+    def _reg(self, cmd, addr, value=0, read=False):
+        req = bytes([cmd, addr & 0xFF, (addr >> 8) & 0xFF, value & 0xFF, 0])
+        self._query(SEL_REG, _SET_CUR, req)
+        if read:
+            return self._query(SEL_REG, _GET_CUR, bytes(5))[3]
+
+    def bridge_read(self, addr):
+        return self._reg(0x80, addr, read=True)
+
+    def bridge_write(self, addr, value):
+        self._reg(0x00, addr, value)
+
+    def sccb_read(self, addr):
+        return self._reg(0x81, addr, read=True)
+
+    def sccb_write(self, addr, value):
+        self._reg(0x01, addr, value)
+
+    # --- mouse MCU (app's pseudo SCCB id 0x88 = bridge registers), as used by Hal::OVMouseManager ---
+
+    def mcu_write_verified(self, reg, value, tries=10):
+        """Write + read back with retries, like the app's helper at 0x138b020."""
+        for _ in range(tries):
+            self.bridge_write(reg, value)
+            if self.bridge_read(reg) == value:
+                return True
+            time.sleep(0.01)
+        return False
+
+    def mcu_command(self, value, ack, tries=100):
+        """Write the MCU command register 0xD8 and poll until it reads `ack`."""
+        self.bridge_write(0xD8, value)
+        got = None
+        for _ in range(tries):
+            got = self.bridge_read(0xD8)
+            if got == ack:
+                return True, got
+        return False, got
+
+    def disable_mouse(self):   # enter standby: needed before scanning
+        return self.mcu_command(0x00, 0xFF)
+
+    def start_scan(self):      # LEDs on + sensor data embedded in frames
+        return self.mcu_command(0xE1, 0x99)
+
+    def enable_mouse(self):    # back to normal mouse mode
+        return self.mcu_command(0xE0, 0x11)
+
+    def scan_button(self):
+        return self.bridge_read(0xBC) & 1

requirements.txt

@@ -0,0 +1,2 @@
+numpy
+opencv-python-headless

scan_text/records.csv

@@ -0,0 +1,752 @@
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tools/probe.py

@@ -0,0 +1,107 @@
+#!/usr/bin/env python3
+"""Record camera frames and HID mouse reports from the Hama myScan side by side.
+
+Saves every raw MJPEG frame plus a timeline (frames.csv, hid.csv) into an output
+directory and prints a once-per-second summary, so we can see how the camera
+reacts to buttons, movement and surfaces.
+"""
+import argparse
+import csv
+import os
+import struct
+import sys
+import threading
+import time
+
+# libjpeg prints "Corrupt JPEG data" warnings straight to fd 2 for every
+# truncated frame; keep Python's stderr but silence the C-level noise.
+sys.stderr = os.fdopen(os.dup(2), "w")
+os.dup2(os.open(os.devnull, os.O_WRONLY), 2)
+
+import cv2  # noqa: E402
+import numpy as np  # noqa: E402
+
+
+def hid_reader(path, out, stop, t0):
+    # Report layout (from the report descriptor): 1 byte buttons (5 bits),
+    # int16 X, int16 Y, int8 wheel, int8 AC pan.
+    fd = os.open(path, os.O_RDONLY | os.O_NONBLOCK)
+    while not stop.is_set():
+        try:
+            r = os.read(fd, 64)
+        except BlockingIOError:
+            time.sleep(0.002)
+            continue
+        if len(r) >= 7:
+            b, x, y, w, p = struct.unpack("<BhhbB", r[:7])
+            out.append((time.time() - t0, b, x, y, w, p, r.hex()))
+    os.close(fd)
+
+
+def main():
+    ap = argparse.ArgumentParser()
+    ap.add_argument("-d", "--duration", type=float, default=30)
+    ap.add_argument("-o", "--out", default="capture")
+    ap.add_argument("--video", default="/dev/video4")
+    ap.add_argument("--hid", default="/dev/hidraw8")
+    a = ap.parse_args()
+
+    os.makedirs(a.out, exist_ok=True)
+    cap = cv2.VideoCapture(a.video, cv2.CAP_V4L2)
+    if not cap.isOpened():
+        sys.exit(f"cannot open {a.video}")
+    cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*"MJPG"))
+    cap.set(cv2.CAP_PROP_CONVERT_RGB, 0)
+
+    hid, stop, t0 = [], threading.Event(), time.time()
+    th = threading.Thread(target=hid_reader, args=(a.hid, hid, stop, t0), daemon=True)
+    th.start()
+
+    frames, n, last_print, hid_seen = [], 0, 0.0, 0
+    print(f"recording {a.duration:.0f}s into {a.out}/ ... move the mouse, press buttons", flush=True)
+    while time.time() - t0 < a.duration:
+        ok, f = cap.read()
+        if not ok:
+            continue
+        t = time.time() - t0
+        raw = f.tobytes()
+        with open(f"{a.out}/f{n:05d}.jpg", "wb") as fh:
+            fh.write(raw)
+        im = cv2.imdecode(np.frombuffer(raw, np.uint8), cv2.IMREAD_GRAYSCALE)
+        if im is None:
+            mean, rows = -1, 0
+        else:
+            # Rows past the end of the (truncated) entropy data decode as flat 128.
+            filled = np.all(im == 128, axis=1)
+            rows = int(np.argmax(filled)) if filled.any() else im.shape[0]
+            mean = float(im[:rows].mean()) if rows else 0.0
+        frames.append((t, n, len(raw), rows, round(mean, 1)))
+        n += 1
+
+        if t - last_print >= 1.0:
+            new = hid[hid_seen:]
+            hid_seen = len(hid)
+            btn = sorted({h[1] for h in new})
+            dx, dy = sum(h[2] for h in new), sum(h[3] for h in new)
+            recent = [fr for fr in frames if fr[0] > t - 1.0]
+            print(f"t={t:5.1f}s fps={len(recent):2d} size={np.mean([r[2] for r in recent]):7.0f}B "
+                  f"rows={np.mean([r[3] for r in recent]):5.0f} bright={np.mean([r[4] for r in recent]):6.1f} "
+                  f"hid={len(new):3d} buttons={btn} dx={dx:+d} dy={dy:+d}", flush=True)
+            last_print = t
+
+    stop.set()
+    th.join()
+    cap.release()
+    with open(f"{a.out}/frames.csv", "w", newline="") as fh:
+        w = csv.writer(fh)
+        w.writerow(["t", "frame", "bytes", "decoded_rows", "brightness"])
+        w.writerows(frames)
+    with open(f"{a.out}/hid.csv", "w", newline="") as fh:
+        w = csv.writer(fh)
+        w.writerow(["t", "buttons", "dx", "dy", "wheel", "pan", "raw"])
+        w.writerows(hid)
+    print(f"done: {n} frames, {len(hid)} HID reports -> {a.out}/")
+
+
+if __name__ == "__main__":
+    main()

tools/record.py

@@ -0,0 +1,83 @@
+#!/usr/bin/env python3
+"""Record a scan session: scan mode + auto-exposure, saving every frame (fixed
+640x296 grayscale PNG) and its embedded sensor record to records.csv.
+Mouse mode is restored on exit (also on Ctrl-C)."""
+import argparse
+import csv
+import os
+import sys
+import time
+
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), ".."))
+sys.stderr = os.fdopen(os.dup(2), "w")
+os.dup2(os.open(os.devnull, os.O_WRONLY), 2)  # silence libjpeg warnings
+
+import cv2  # noqa: E402
+import numpy as np  # noqa: E402
+
+from myscan.frame import fix_and_extract  # noqa: E402
+from myscan.xu import XU  # noqa: E402
+
+
+def main():
+    ap = argparse.ArgumentParser()
+    ap.add_argument("-d", "--duration", type=float, default=20)
+    ap.add_argument("-o", "--out", default="scan")
+    ap.add_argument("--video", default="/dev/video4")
+    ap.add_argument("--target", type=float, default=150, help="auto-exposure target mean brightness")
+    ap.add_argument("--exposure", type=int, help="fixed E6 value instead of auto-exposure")
+    a = ap.parse_args()
+    os.makedirs(a.out, exist_ok=True)
+
+    x = XU(a.video)
+    e6 = a.exposure or 40
+    rows = []
+    try:
+        if not (x.disable_mouse()[0] and x.mcu_write_verified(0x2D, 0x60)
+                and x.mcu_write_verified(0xE7, 0x28) and x.mcu_write_verified(0xE6, e6)
+                and x.start_scan()[0]):
+            sys.exit("failed to enter scan mode")
+        cap = cv2.VideoCapture(a.video, cv2.CAP_V4L2)
+        cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*"MJPG"))
+        cap.set(cv2.CAP_PROP_CONVERT_RGB, 0)
+        print(f"scanning for {a.duration:.0f}s -> {a.out}/  (Ctrl-C to stop early)", flush=True)
+        t0, n, last = time.time(), 0, 0.0
+        while time.time() - t0 < a.duration:
+            ok, f = cap.read()
+            if not ok:
+                continue
+            t = time.time() - t0
+            clean, rec = fix_and_extract(f.tobytes())
+            im = cv2.imdecode(np.frombuffer(clean, np.uint8), cv2.IMREAD_GRAYSCALE)
+            if im is None or rec is None:
+                continue
+            cv2.imwrite(f"{a.out}/f{n:05d}.png", im)
+            mean = float(im.mean())
+            rows.append([round(t, 4), n, rec.counter, *rec.v, rec.b14, rec.b15, rec.b16, rec.flags, e6,
+                         round(mean, 1), rec.raw.hex()])
+            # Proportional auto-exposure every 3 frames (brightness is ~linear in E6).
+            if a.exposure is None and n % 3 == 0 and mean > 1:
+                new = int(min(255, max(2, round(e6 * (a.target / mean) ** 0.7))))
+                if new != e6 and x.mcu_write_verified(0xE6, new):
+                    e6 = new
+            if t - last >= 1:
+                print(f"t={t:5.1f}s frames={n:4d} E6={e6:3d} bright={mean:5.1f} "
+                      f"l1=({rec.v[0]:#06x},{rec.v[1]:#06x}) l2=({rec.v[3]:#06x},{rec.v[4]:#06x}) "
+                      f"sq={rec.b14},{rec.b15} flags={rec.flags:05b}", flush=True)
+                last = t
+            n += 1
+        cap.release()
+    except KeyboardInterrupt:
+        pass
+    finally:
+        print("restore mouse mode:", x.enable_mouse()[0])
+        with open(f"{a.out}/records.csv", "w", newline="") as fh:
+            w = csv.writer(fh)
+            w.writerow(["t", "frame", "counter", "v0", "v1", "v2", "v3", "v4", "v5",
+                        "b14", "b15", "b16", "flags", "e6", "brightness", "raw"])
+            w.writerows(rows)
+        print(f"{len(rows)} frames saved to {a.out}/")
+
+
+if __name__ == "__main__":
+    main()

tools/scantest.py

@@ -0,0 +1,60 @@
+#!/usr/bin/env python3
+"""Put the myScan into scan mode the way Hal::OVMouseManager::startVideo does,
+grab a few seconds of frames, decode the embedded sensor records, then restore
+mouse mode."""
+import argparse
+import os
+import sys
+import time
+
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), ".."))
+sys.stderr = os.fdopen(os.dup(2), "w")
+os.dup2(os.open(os.devnull, os.O_WRONLY), 2)  # silence libjpeg warnings
+
+import cv2  # noqa: E402
+import numpy as np  # noqa: E402
+
+from myscan.frame import fix_and_extract  # noqa: E402
+from myscan.xu import XU  # noqa: E402
+
+
+def main():
+    ap = argparse.ArgumentParser()
+    ap.add_argument("-d", "--duration", type=float, default=4)
+    ap.add_argument("-o", "--out", default="scantest")
+    ap.add_argument("--video", default="/dev/video4")
+    a = ap.parse_args()
+    os.makedirs(a.out, exist_ok=True)
+
+    x = XU(a.video)
+    print("D8 before:", hex(x.bridge_read(0xD8)))
+    try:
+        print("disable mouse:", x.disable_mouse())
+        print("2D=60:", x.mcu_write_verified(0x2D, 0x60), " E7=28:", x.mcu_write_verified(0xE7, 0x28))
+        print("start scan:", x.start_scan())
+
+        cap = cv2.VideoCapture(a.video, cv2.CAP_V4L2)
+        cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*"MJPG"))
+        cap.set(cv2.CAP_PROP_CONVERT_RGB, 0)
+        t0, n = time.time(), 0
+        while time.time() - t0 < a.duration:
+            ok, f = cap.read()
+            if not ok:
+                continue
+            raw = f.tobytes()
+            clean, rec = fix_and_extract(raw)
+            im = cv2.imdecode(np.frombuffer(clean, np.uint8), cv2.IMREAD_GRAYSCALE)
+            cv2.imwrite(f"{a.out}/f{n:04d}.png", im)
+            if n % 10 == 0:
+                r = rec.raw.hex() if rec else None
+                print(f"#{n:3d} {len(raw):6d}B bright={im.mean():6.1f} rec={r}", flush=True)
+            n += 1
+        cap.release()
+        print(f"{n} frames -> {a.out}/")
+    finally:
+        print("enable mouse:", x.enable_mouse())
+        print("D8 after:", hex(x.bridge_read(0xD8)))
+
+
+if __name__ == "__main__":
+    main()

tools/stitch.py

@@ -0,0 +1,44 @@
+#!/usr/bin/env python3
+"""Stitch a directory recorded by tools/record.py into a page image."""
+import argparse
+import csv
+import os
+import sys
+
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), ".."))
+
+import cv2  # noqa: E402
+import numpy as np  # noqa: E402
+
+from myscan.stitch import ROT_GAIN, Stitcher, laser_deltas  # noqa: E402
+
+
+def main():
+    ap = argparse.ArgumentParser()
+    ap.add_argument("dir")
+    ap.add_argument("-o", "--out", help="output image (default <dir>/page.png)")
+    ap.add_argument("--no-refine", action="store_true", help="lasers only, no image registration")
+    ap.add_argument("--rot-gain", type=float, default=ROT_GAIN)
+    ap.add_argument("--start", type=int, default=0)
+    ap.add_argument("--end", type=int)
+    a = ap.parse_args()
+
+    rows = list(csv.DictReader(open(os.path.join(a.dir, "records.csv"))))
+    v = np.array([[int(r[f"v{k}"]) for k in range(6)] for r in rows])
+    deltas = laser_deltas(v)
+    frames = [int(r["frame"]) for r in rows]
+    rng = range(a.start, a.end if a.end is not None else len(rows))
+
+    st = None
+    for i in rng:
+        im = cv2.imread(os.path.join(a.dir, f"f{frames[i]:05d}.png"), cv2.IMREAD_GRAYSCALE)
+        if st is None:
+            st = Stitcher(im.shape, refine=not a.no_refine, rot_gain=a.rot_gain)
+        st.add(im, deltas[i])
+    out = a.out or os.path.join(a.dir, "page.png")
+    cv2.imwrite(out, st.image())
+    print(f"{st.n} frames -> {out}  {st.stats}")
+
+
+if __name__ == "__main__":
+    main()