relative horizontal blend
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86d9b817e5
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1 changed files with 89 additions and 145 deletions
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@ -154,179 +154,119 @@ class StitchingScanner:
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self.state.mosaic_init_height = h
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self.state.frame_count = 1
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self.state.append_count = 0
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self.state.current_y = 0
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self.state.current_x = 0
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self.log(f"Initialized mosaic: {frame.shape[1]}x{frame.shape[0]}")
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def _blend_horizontal(self, base: np.ndarray, strip: np.ndarray,
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blend_width: int, append_right: bool) -> np.ndarray:
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self.log(f"=== _blend_horizontal ===")
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self.log(f" base.shape: {base.shape}, strip.shape: {strip.shape}")
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self.log(f" blend_width: {blend_width}, append_right: {append_right}")
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def _blend_horizontal_at_y(self, base: np.ndarray, strip: np.ndarray,
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blend_width: int, append_right: bool,
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y_offset: int = 0) -> np.ndarray:
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"""Blend strip horizontally at a specific Y position in the mosaic."""
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h_base, w_base = base.shape[:2]
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h_strip, w_strip = strip.shape[:2]
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# Clamp y_offset to valid range
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y_offset = max(0, min(y_offset, h_base - h_strip))
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# Early exit: no blending possible
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if blend_width <= 0 or blend_width >= w_strip:
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if append_right:
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# Create result with expanded width
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result_width = w_base + w_strip
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result = np.zeros((h_base, result_width, 3), dtype=np.uint8)
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result[:, :w_base] = base
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result[y_offset:y_offset + h_strip, w_base:] = strip
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return result
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else:
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result_width = w_base + w_strip
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result = np.zeros((h_base, result_width, 3), dtype=np.uint8)
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result[y_offset:y_offset + h_strip, :w_strip] = strip
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result[:, w_strip:] = base
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return result
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blend_w = min(blend_width, w_strip, w_base)
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if append_right:
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result_width = w_base + w_strip - blend_w
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result = np.zeros((h_base, result_width, 3), dtype=np.uint8)
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result[:, :w_base] = base
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# Extract overlaps at the correct Y position
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alpha = np.linspace(1, 0, blend_w, dtype=np.float32)[np.newaxis, :, np.newaxis]
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base_overlap = base[y_offset:y_offset + h_strip, -blend_w:].astype(np.float32)
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strip_overlap = strip[:, :blend_w].astype(np.float32)
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blended = (base_overlap * alpha + strip_overlap * (1 - alpha)).astype(np.uint8)
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# Place blended region and remainder at correct Y
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result[y_offset:y_offset + h_strip, w_base - blend_w:w_base] = blended
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result[y_offset:y_offset + h_strip, w_base:] = strip[:, blend_w:]
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return result
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else: # append_left
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result_width = w_base + w_strip - blend_w
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result = np.zeros((h_base, result_width, 3), dtype=np.uint8)
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# Place strip at correct Y position
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result[y_offset:y_offset + h_strip, :w_strip] = strip
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# Copy base (shifted right)
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result[:, w_strip:] = base[:, blend_w:]
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# Extract overlaps at correct Y position
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alpha = np.linspace(0, 1, blend_w, dtype=np.float32)[np.newaxis, :, np.newaxis]
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strip_overlap = strip[:, -blend_w:].astype(np.float32)
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base_overlap = base[y_offset:y_offset + h_strip, :blend_w].astype(np.float32)
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blended = (strip_overlap * (1 - alpha) + base_overlap * alpha).astype(np.uint8)
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result[y_offset:y_offset + h_strip, w_strip - blend_w:w_strip] = blended
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return result
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def _blend_horizontal(self, base: np.ndarray, strip: np.ndarray,
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blend_width: int, append_right: bool) -> np.ndarray:
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if blend_width <= 0 or blend_width >= strip.shape[1]:
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self.log(f" Early exit: blend_width out of range")
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if append_right:
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return np.hstack([base, strip])
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return np.hstack([strip, base])
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h_base, w_base = base.shape[:2]
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h_strip, w_strip = strip.shape[:2]
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# Check for channel dimension
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c_base = base.shape[2] if len(base.shape) > 2 else 1
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c_strip = strip.shape[2] if len(strip.shape) > 2 else 1
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self.log(f" h_base: {h_base}, w_base: {w_base}, channels_base: {c_base}")
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self.log(f" h_strip: {h_strip}, w_strip: {w_strip}, channels_strip: {c_strip}")
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self.log(f"Base Width: {w_base}px")
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if h_strip != h_base:
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self.log(f" WARNING: Height mismatch! h_base={h_base}, h_strip={h_strip}")
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if append_right:
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return np.hstack([base, strip])
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return np.hstack([strip, base])
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if c_base != c_strip:
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self.log(f" ERROR: Channel mismatch! c_base={c_base}, c_strip={c_strip}")
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blend_w = min(blend_width, w_strip, w_base)
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self.log(f" blend_w (clamped): {blend_w}")
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if append_right:
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result_width = w_base + w_strip - blend_w
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self.log(f" result_width: {result_width} = {w_base} + {w_strip} - {blend_w}")
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result = np.zeros((h_base, result_width, 3), dtype=np.uint8)
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self.log(f" result.shape: {result.shape}")
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# Step 1: Copy base
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self.log(f" Step 1: result[:, :w_base] = base -> result[:, :{w_base}]")
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try:
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result[:, :w_base] = base
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except Exception as e:
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self.log(f" ERROR Step 1: {e}")
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raise
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# Step 2: Create alpha and overlaps
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self.log(f" Step 2: Creating overlaps")
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self.log(f" base_overlap = base[:, -{blend_w}:] -> base[:, {w_base - blend_w}:]")
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self.log(f" strip_overlap = strip[:, :{blend_w}]")
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result[:, :w_base] = base
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alpha = np.linspace(1, 0, blend_w, dtype=np.float32)[np.newaxis, :, np.newaxis]
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self.log(f" alpha.shape: {alpha.shape}")
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base_overlap = base[:, -blend_w:].astype(np.float32)
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strip_overlap = strip[:, :blend_w].astype(np.float32)
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blended = (base_overlap * alpha + strip_overlap * (1 - alpha)).astype(np.uint8)
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try:
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base_overlap = base[:, -blend_w:].astype(np.float32)
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self.log(f" base_overlap.shape: {base_overlap.shape}")
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except Exception as e:
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self.log(f" ERROR base_overlap: {e}")
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raise
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try:
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strip_overlap = strip[:, :blend_w].astype(np.float32)
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self.log(f" strip_overlap.shape: {strip_overlap.shape}")
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except Exception as e:
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self.log(f" ERROR strip_overlap: {e}")
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raise
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# Step 3: Blend
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self.log(f" Step 3: Blending")
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try:
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blended = (base_overlap * alpha + strip_overlap * (1 - alpha)).astype(np.uint8)
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self.log(f" blended.shape: {blended.shape}")
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except Exception as e:
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self.log(f" ERROR blending: {e}")
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raise
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# Step 4: Assign blended region
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self.log(f" Step 4: result[:, {w_base - blend_w}:{w_base}] = blended")
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try:
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result[:, w_base - blend_w:w_base] = blended
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except Exception as e:
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self.log(f" ERROR Step 4: {e}")
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self.log(f" Slice size: [:, {w_base - blend_w}:{w_base}] = {w_base - (w_base - blend_w)} cols")
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self.log(f" blended.shape: {blended.shape}")
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raise
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# Step 5: Assign remainder of strip
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self.log(f" Step 5: result[:, {w_base}:] = strip[:, {blend_w}:]")
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try:
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remainder = strip[:, blend_w:]
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self.log(f" remainder.shape: {remainder.shape}")
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self.log(f" target slice width: {result_width - w_base}")
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result[:, w_base:] = remainder
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except Exception as e:
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self.log(f" ERROR Step 5: {e}")
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raise
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self.log(f" Success! Returning result.shape: {result.shape}")
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result[:, w_base - blend_w:w_base] = blended
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result[:, w_base:] = strip[:, blend_w:]
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return result
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else: # append_left
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else:
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result_width = w_base + w_strip - blend_w
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self.log(f" result_width: {result_width} = {w_base} + {w_strip} - {blend_w}")
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result = np.zeros((h_base, result_width, 3), dtype=np.uint8)
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self.log(f" result.shape: {result.shape}")
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# Step 1: Copy strip
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self.log(f" Step 1: result[:, :w_strip] = strip -> result[:, :{w_strip}]")
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try:
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result[:, :w_strip] = strip
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except Exception as e:
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self.log(f" ERROR Step 1: {e}")
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raise
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# Step 2: Create alpha and overlaps
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self.log(f" Step 2: Creating overlaps")
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self.log(f" strip_overlap = strip[:, -{blend_w}:] -> strip[:, {w_strip - blend_w}:]")
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self.log(f" base_overlap = base[:, :{blend_w}]")
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result[:, :w_strip] = strip
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alpha = np.linspace(0, 1, blend_w, dtype=np.float32)[np.newaxis, :, np.newaxis]
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self.log(f" alpha.shape: {alpha.shape}")
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strip_overlap = strip[:, -blend_w:].astype(np.float32)
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base_overlap = base[:, :blend_w].astype(np.float32)
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blended = (strip_overlap * (1 - alpha) + base_overlap * alpha).astype(np.uint8)
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try:
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strip_overlap = strip[:, -blend_w:].astype(np.float32)
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self.log(f" strip_overlap.shape: {strip_overlap.shape}")
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except Exception as e:
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self.log(f" ERROR strip_overlap: {e}")
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raise
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try:
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base_overlap = base[:, :blend_w].astype(np.float32)
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self.log(f" base_overlap.shape: {base_overlap.shape}")
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except Exception as e:
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self.log(f" ERROR base_overlap: {e}")
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raise
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# Step 3: Blend
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self.log(f" Step 3: Blending")
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try:
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blended = (strip_overlap * (1 - alpha) + base_overlap * alpha).astype(np.uint8)
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self.log(f" blended.shape: {blended.shape}")
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except Exception as e:
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self.log(f" ERROR blending: {e}")
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raise
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# Step 4: Assign blended region
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self.log(f" Step 4: result[:, {w_strip - blend_w}:{w_strip}] = blended")
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try:
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result[:, w_strip - blend_w:w_strip] = blended
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except Exception as e:
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self.log(f" ERROR Step 4: {e}")
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raise
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# Step 5: Assign remainder of base
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self.log(f" Step 5: result[:, {w_strip}:] = base[:, {blend_w}:]")
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try:
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remainder = base[:, blend_w:]
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self.log(f" remainder.shape: {remainder.shape}")
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self.log(f" target slice width: {result_width - w_strip}")
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result[:, w_strip:] = remainder
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except Exception as e:
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self.log(f" ERROR Step 5: {e}")
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raise
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self.log(f" Success! Returning result.shape: {result.shape}")
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result[:, w_strip - blend_w:w_strip] = blended
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result[:, w_strip:] = base[:, blend_w:]
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return result
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def _blend_vertical_at_x(self, base: np.ndarray, strip: np.ndarray,
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blend_height: int, append_below: bool,
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x_off: int = 0) -> np.ndarray:
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@ -449,16 +389,19 @@ class StitchingScanner:
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pixels_consumed = append_width - SAFETY_MARGIN
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fractional_remainder = dx - pixels_consumed
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# Calculate Y offset for current row
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y_offset = int(self.state.current_y)
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if direction == ScanDirection.RIGHT:
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strip_start = max(0, w - append_width - BLEND_WIDTH)
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new_strip = frame[:, strip_start:]
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self.mosaic = self._blend_horizontal(
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self.mosaic, new_strip, BLEND_WIDTH, append_right=True)
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self.mosaic = self._blend_horizontal_at_y(
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self.mosaic, new_strip, BLEND_WIDTH, append_right=True, y_offset=y_offset)
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else:
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strip_end = min(w, append_width + BLEND_WIDTH)
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new_strip = frame[:, :strip_end]
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self.mosaic = self._blend_horizontal(
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self.mosaic, new_strip, BLEND_WIDTH, append_right=False)
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self.mosaic = self._blend_horizontal_at_y(
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self.mosaic, new_strip, BLEND_WIDTH, append_right=False, y_offset=y_offset)
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self._displacement_since_append_x = fractional_remainder
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self._displacement_since_append_y = 0.0
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@ -777,6 +720,7 @@ class StitchingScanner:
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# Done when we've moved enough
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if abs(total_y) >= target_displacement:
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self.log(f"Row transition complete: {abs(total_y):.1f}px")
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self.state.current_y = 0
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self.motion.send_command('s')
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time.sleep(self.config.settle_time)
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