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>
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>
erikandClaude Opus 5.5