src/camera.py

@@ -1,183 +1,22 @@
 import cv2
-import subprocess
-import re
-
-
-def detect_camera_modes(device_id=0):
-    """
-    Detect available camera resolutions using v4l2-ctl.
-    Returns dict of modes sorted by resolution (smallest to largest).
-    """
-    modes = {}
-    
-    try:
-        # Run v4l2-ctl to get supported formats
-        device = f"/dev/video{device_id}"
-        result = subprocess.run(
-            ['v4l2-ctl', '--device', device, '--list-formats-ext'],
-            capture_output=True,
-            text=True,
-            timeout=5
-        )
-        
-        if result.returncode != 0:
-            print(f"v4l2-ctl failed: {result.stderr}")
-            return _get_fallback_modes()
-        
-        # Parse output for "Size: Discrete WxH" lines
-        # Example: "Size: Discrete 2592x1944"
-        size_pattern = re.compile(r'Size:\s+Discrete\s+(\d+)x(\d+)')
-        
-        resolutions = set()  # Use set to avoid duplicates
-        for line in result.stdout.split('\n'):
-            match = size_pattern.search(line)
-            if match:
-                width = int(match.group(1))
-                height = int(match.group(2))
-                resolutions.add((width, height))
-        
-        if not resolutions:
-            print("No resolutions found in v4l2-ctl output")
-            return _get_fallback_modes()
-        
-        # Sort by total pixels (width * height)
-        sorted_res = sorted(resolutions, key=lambda r: r[0] * r[1])
-        
-        # Build modes dict with descriptive names
-        for i, (width, height) in enumerate(sorted_res):
-            pixels = width * height
-            
-            # Generate a name based on position/size
-            if i == 0:
-                name = 'low'
-                desc = 'Low'
-            elif i == len(sorted_res) - 1:
-                name = 'high'
-                desc = 'High'
-            elif len(sorted_res) == 3 and i == 1:
-                name = 'medium'
-                desc = 'Medium'
-            else:
-                name = f'res_{width}x{height}'
-                desc = f'{width}x{height}'
-            
-            modes[name] = {
-                'width': width,
-                'height': height,
-                'label': f'{width}x{height} ({desc})'
-            }
-        
-        print(f"Detected {len(modes)} camera modes: {list(modes.keys())}")
-        return modes
-        
-    except FileNotFoundError:
-        print("v4l2-ctl not found, using fallback modes")
-        return _get_fallback_modes()
-    except subprocess.TimeoutExpired:
-        print("v4l2-ctl timed out, using fallback modes")
-        return _get_fallback_modes()
-    except Exception as e:
-        print(f"Error detecting camera modes: {e}")
-        return _get_fallback_modes()
-
-
-def _get_fallback_modes():
-    """Fallback modes if v4l2-ctl detection fails"""
-    return {
-        'low': {'width': 640, 'height': 480, 'label': '640x480 (Low)'},
-        'medium': {'width': 1280, 'height': 960, 'label': '1280x960 (Medium)'},
-        'high': {'width': 1920, 'height': 1080, 'label': '1920x1080 (High)'},
-    }
-
 
 class Camera:
-    prevFrame = {}
+    def __init__(self, device_id=0):
-    def __init__(self, device_id=0, mode=None):
-        self.device_id = device_id
-        
-        # Detect available modes before opening camera
-        self.MODES = detect_camera_modes(device_id)
-        
-        # Open camera
         self.cap = cv2.VideoCapture(device_id)
         
         if not self.cap.isOpened():
             raise RuntimeError("Could not open camera, stop program")
         
-        # Default to highest resolution if no mode specified
-        if mode is None:
-            mode = list(self.MODES.keys())[0]  # Last = highest res
-        
-        self.current_mode = mode
-        self._apply_mode(mode)
-        
         # set resolution
         # self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920)
         # self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080)
-        self.cap.set(cv2.CAP_PROP_AUTO_EXPOSURE, 0)  # Disable auto-exposure
+        
-        self.cap.set(cv2.CAP_PROP_EXPOSURE, -6)       # Set fixed exposure
-        self.cap.set(cv2.CAP_PROP_AUTO_WB, 0)         # Disable auto white balance
         self.window_name = "AutoScope"
     
-    def _apply_mode(self, mode_name):
-        """Apply resolution settings"""
-        if mode_name not in self.MODES:
-            print(f"Unknown mode {mode_name}, using first available")
-            mode_name = list(self.MODES.keys())[0]
-        
-        mode = self.MODES[mode_name]
-        
-        # Set resolution
-        self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, mode['width'])
-        self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, mode['height'])
-        
-        self.current_mode = mode_name
-        
-        # Verify settings took effect
-        actual_w = int(self.cap.get(cv2.CAP_PROP_FRAME_WIDTH))
-        actual_h = int(self.cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
-        actual_fps = self.cap.get(cv2.CAP_PROP_FPS)
-        
-        print(f"Camera mode: {mode['label']}")
-        print(f"  Actual: {actual_w}x{actual_h} @ {actual_fps:.1f}fps")
-        
-        return actual_w, actual_h, actual_fps
-    
-    def set_mode(self, mode_name):
-        """Change camera mode (resolution/framerate)"""
-        return self._apply_mode(mode_name)
-    
-    def get_mode(self):
-        """Get current mode name"""
-        return self.current_mode
-    
-    def get_mode_info(self):
-        """Get current mode details"""
-        return self.MODES.get(self.current_mode, list(self.MODES.values())[0])
-    
-    def get_resolution(self):
-        """Get current actual resolution"""
-        w = int(self.cap.get(cv2.CAP_PROP_FRAME_WIDTH))
-        h = int(self.cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
-        return w, h
-    
-    def get_fps(self):
-        """Get current actual FPS"""
-        return self.cap.get(cv2.CAP_PROP_FPS)
-    
-    def get_available_modes(self):
-        """Get list of available mode names"""
-        return list(self.MODES.keys())
-    
-    def get_mode_labels(self):
-        """Get mode labels for UI"""
-        return {k: v['label'] for k, v in self.MODES.items()}
-    
     def capture_frame(self):
         ret, frame = self.cap.read()
         if not ret:
-            return prevframe
+            raise RuntimeError("Failed to capture frame, stop program")
-        prevframe = frame
         return frame
     
     def show_frame(self, frame):
@@ -229,4 +68,5 @@ class Camera:
             if key == ord('q'):
                 break
         
-        self.close_window()
+        self.close_window()
+    

src/stitching_scanner.py

@@ -1,756 +0,0 @@
-"""
-Stitching Scanner v2 - Simplified unified approach
-
-Same displacement-based stitching for both horizontal rows and vertical row transitions.
-No complex visual matching - just track displacement and append strips.
-"""
-
-import cv2
-import numpy as np
-import time
-import threading
-from dataclasses import dataclass
-from typing import Optional, Callable, Tuple
-from enum import Enum
-
-
-class ScanDirection(Enum):
-    RIGHT = 'right'
-    LEFT = 'left'
-    DOWN = 'down'
-    UP = 'up'
-
-
-@dataclass
-class StitchConfig:
-    displacement_threshold: float = 0.10  # 10% of frame triggers append
-    movement_interval: float = 0.001
-    frame_interval: float = 1.00
-    settle_time: float = 0.75
-    max_scan_time: float = 300.0
-    row_overlap: float = 0.15
-    max_mosaic_width: int = 15000
-    max_mosaic_height: int = 12000
-    scan_speed_index: int = 3
-    autofocus_every_row: bool = True
-
-
-@dataclass
-class StitchState:
-    is_scanning: bool = False
-    direction: str = ''
-    cumulative_x: float = 0.0
-    cumulative_y: float = 0.0
-    last_displacement: Tuple[float, float] = (0.0, 0.0)
-    current_row: int = 0
-    total_rows: int = 0
-    mosaic_width: int = 0
-    mosaic_height: int = 0
-    frame_count: int = 0
-    append_count: int = 0
-
-
-class StitchingScanner:
-    """
-    Slide scanner using continuous stitching.
-    Unified approach for horizontal and vertical movement.
-    """
-    
-    def __init__(self, camera, motion_controller, autofocus_controller=None,
-                 config: StitchConfig = None,
-                 on_log: Callable[[str], None] = None,
-                 on_progress: Callable[[int, int], None] = None,
-                 on_mosaic_updated: Callable[[], None] = None):
-        self.camera = camera
-        self.motion = motion_controller
-        self.autofocus = autofocus_controller
-        self.config = config or StitchConfig()
-        
-        self.on_log = on_log
-        self.on_progress = on_progress
-        self.on_mosaic_updated = on_mosaic_updated
-        
-        self.running = False
-        self.paused = False
-        self.state = StitchState()
-        self._state_lock = threading.Lock()
-        
-        self.mosaic: Optional[np.ndarray] = None
-        self._mosaic_lock = threading.Lock()
-        
-        self._prev_frame: Optional[np.ndarray] = None
-        self._displacement_since_append_x: float = 0.0
-        self._displacement_since_append_y: float = 0.0
-        
-        self._thread: Optional[threading.Thread] = None
-    
-    def log(self, message: str):
-        if self.on_log:
-            self.on_log(f"[Stitch] {message}")
-        print(f"[Stitch] {message}")
-    
-    # =========================================================================
-    # Displacement Detection
-    # =========================================================================
-    
-    def _to_grayscale(self, frame: np.ndarray) -> np.ndarray:
-        if len(frame.shape) == 3:
-            return cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
-        return frame
-    
-    def _detect_displacement(self, prev_frame: np.ndarray, 
-                             curr_frame: np.ndarray) -> Tuple[float, float]:
-        prev_gray = self._to_grayscale(prev_frame)
-        curr_gray = self._to_grayscale(curr_frame)
-        
-        if prev_gray.shape != curr_gray.shape:
-            return (0.0, 0.0)
-        
-        prev_f = prev_gray.astype(np.float32)
-        curr_f = curr_gray.astype(np.float32)
-        
-        h, w = prev_gray.shape
-        window = cv2.createHanningWindow((w, h), cv2.CV_32F)
-        prev_f = prev_f * window
-        curr_f = curr_f * window
-        
-        shift, _ = cv2.phaseCorrelate(prev_f, curr_f)
-        return shift
-    
-    def _detect_displacement_robust(self, prev_frame: np.ndarray,
-                                   curr_frame: np.ndarray) -> Tuple[float, float]:
-        dx, dy = self._detect_displacement(prev_frame, curr_frame)
-        
-        h, w = prev_frame.shape[:2]
-        max_displacement = max(w, h) * 0.5
-        
-        if abs(dx) > max_displacement or abs(dy) > max_displacement:
-            self.log(f"Warning: Large displacement ({dx:.1f}, {dy:.1f}), ignoring")
-            return (0.0, 0.0)
-        
-        return (dx, dy)
-    
-    # =========================================================================
-    # Mosaic Building
-    # =========================================================================
-    
-    def _init_mosaic(self, frame: np.ndarray):
-        with self._mosaic_lock:
-            self.mosaic = frame.copy()
-        
-        self._prev_frame = frame.copy()
-        self._displacement_since_append_x = 0.0
-        self._displacement_since_append_y = 0.0
-        
-        with self._state_lock:
-            h, w = frame.shape[:2]
-            self.state.mosaic_width = w
-            self.state.mosaic_height = h
-            self.state.frame_count = 1
-            self.state.append_count = 0
-        
-        self.log(f"Initialized mosaic: {frame.shape[1]}x{frame.shape[0]}")
-    
-    def _blend_horizontal(self, base: np.ndarray, strip: np.ndarray, 
-                          blend_width: int, append_right: bool) -> np.ndarray:
-        if blend_width <= 0 or blend_width >= strip.shape[1]:
-            if append_right:
-                return np.hstack([base, strip])
-            return np.hstack([strip, base])
-        
-        h_base, w_base = base.shape[:2]
-        h_strip, w_strip = strip.shape[:2]
-        
-        if h_strip != h_base:
-            if append_right:
-                return np.hstack([base, strip])
-            return np.hstack([strip, base])
-        
-        blend_w = min(blend_width, w_strip, w_base)
-        
-        if append_right:
-            result_width = w_base + w_strip - blend_w
-            result = np.zeros((h_base, result_width, 3), dtype=np.uint8)
-            result[:, :w_base] = base
-            
-            alpha = np.linspace(1, 0, blend_w, dtype=np.float32)[np.newaxis, :, np.newaxis]
-            base_overlap = base[:, -blend_w:].astype(np.float32)
-            strip_overlap = strip[:, :blend_w].astype(np.float32)
-            blended = (base_overlap * alpha + strip_overlap * (1 - alpha)).astype(np.uint8)
-            
-            result[:, w_base - blend_w:w_base] = blended
-            result[:, w_base:] = strip[:, blend_w:]
-            return result
-        else:
-            result_width = w_base + w_strip - blend_w
-            result = np.zeros((h_base, result_width, 3), dtype=np.uint8)
-            result[:, :w_strip] = strip
-            
-            alpha = np.linspace(0, 1, blend_w, dtype=np.float32)[np.newaxis, :, np.newaxis]
-            strip_overlap = strip[:, -blend_w:].astype(np.float32)
-            base_overlap = base[:, :blend_w].astype(np.float32)
-            blended = (strip_overlap * (1 - alpha) + base_overlap * alpha).astype(np.uint8)
-            
-            result[:, w_strip - blend_w:w_strip] = blended
-            result[:, w_strip:] = base[:, blend_w:]
-            return result
-    
-    def _blend_vertical(self, base: np.ndarray, strip: np.ndarray,
-                        blend_height: int, append_below: bool) -> np.ndarray:
-        mh, mw = base.shape[:2]
-        sh, sw = strip.shape[:2]
-        
-        # Match widths
-        if sw > mw:
-            strip = strip[:, :mw]
-        elif sw < mw:
-            pad = np.zeros((sh, mw - sw, 3), dtype=np.uint8)
-            strip = np.hstack([strip, pad])
-        
-        blend_h = min(blend_height, sh, mh)
-        
-        if blend_h <= 0:
-            if append_below:
-                return np.vstack([base, strip])
-            return np.vstack([strip, base])
-        
-        if append_below:
-            alpha = np.linspace(1, 0, blend_h, dtype=np.float32)[:, np.newaxis, np.newaxis]
-            base_overlap = base[-blend_h:].astype(np.float32)
-            strip_overlap = strip[:blend_h].astype(np.float32)
-            blended = (base_overlap * alpha + strip_overlap * (1 - alpha)).astype(np.uint8)
-            
-            result_h = mh + sh - blend_h
-            result = np.zeros((result_h, mw, 3), dtype=np.uint8)
-            result[:mh - blend_h] = base[:-blend_h]
-            result[mh - blend_h:mh] = blended
-            result[mh:] = strip[blend_h:]
-            return result
-        else:
-            alpha = np.linspace(0, 1, blend_h, dtype=np.float32)[:, np.newaxis, np.newaxis]
-            strip_overlap = strip[-blend_h:].astype(np.float32)
-            base_overlap = base[:blend_h].astype(np.float32)
-            blended = (strip_overlap * (1 - alpha) + base_overlap * alpha).astype(np.uint8)
-            
-            result_h = mh + sh - blend_h
-            result = np.zeros((result_h, mw, 3), dtype=np.uint8)
-            result[:sh - blend_h] = strip[:-blend_h]
-            result[sh - blend_h:sh] = blended
-            result[sh:] = base[blend_h:]
-            return result
-    
-    def _append_strip(self, frame: np.ndarray, direction: ScanDirection):
-        """Append strip to mosaic based on accumulated displacement."""
-        BLEND_WIDTH = 10
-        SAFETY_MARGIN = 2
-        
-        with self._mosaic_lock:
-            if self.mosaic is None:
-                return
-            
-            h, w = frame.shape[:2]
-            mh, mw = self.mosaic.shape[:2]
-            
-            dx = abs(self._displacement_since_append_x)
-            dy = abs(self._displacement_since_append_y)
-            
-            if direction in [ScanDirection.RIGHT, ScanDirection.LEFT]:
-                append_width = round(dx) + SAFETY_MARGIN
-                append_width = min(append_width, w - BLEND_WIDTH - 5)
-                
-                if append_width < 1:
-                    return
-                
-                pixels_consumed = append_width - SAFETY_MARGIN
-                fractional_remainder = dx - pixels_consumed
-                
-                if direction == ScanDirection.RIGHT:
-                    strip_start = max(0, w - append_width - BLEND_WIDTH)
-                    new_strip = frame[:, strip_start:]
-                    self.mosaic = self._blend_horizontal(
-                        self.mosaic, new_strip, BLEND_WIDTH, append_right=True)
-                else:
-                    strip_end = min(w, append_width + BLEND_WIDTH)
-                    new_strip = frame[:, :strip_end]
-                    self.mosaic = self._blend_horizontal(
-                        self.mosaic, new_strip, BLEND_WIDTH, append_right=False)
-                
-                self._displacement_since_append_x = fractional_remainder
-                self._displacement_since_append_y = 0.0
-                    
-            elif direction in [ScanDirection.DOWN, ScanDirection.UP]:
-                append_height = round(dy) + SAFETY_MARGIN
-                append_height = min(append_height, h - BLEND_WIDTH - 5)
-                
-                if append_height < 1:
-                    return
-                
-                pixels_consumed = append_height - SAFETY_MARGIN
-                fractional_remainder = dy - pixels_consumed
-                
-                if direction == ScanDirection.DOWN:
-                    strip_end = min(h, append_height + BLEND_WIDTH)
-                    new_strip = frame[:strip_end:, :]
-                    self.mosaic = self._blend_vertical(
-                        self.mosaic, new_strip, BLEND_WIDTH, append_below=False)
-                else:
-                    strip_start = max(0, h - append_height - BLEND_WIDTH)
-                    new_strip = frame[:strip_start, :]
-                    self.mosaic = self._blend_vertical(
-                        self.mosaic, new_strip, BLEND_WIDTH, append_below=True)
-                
-                self._displacement_since_append_x = 0.0
-                self._displacement_since_append_y = fractional_remainder
-            
-            new_mh, new_mw = self.mosaic.shape[:2]
-        
-        with self._state_lock:
-            self.state.mosaic_width = new_mw
-            self.state.mosaic_height = new_mh
-            self.state.append_count += 1
-        
-        if self.on_mosaic_updated:
-            self.on_mosaic_updated()
-    
-    # =========================================================================
-    # Scan Control
-    # =========================================================================
-    
-    def start(self) -> bool:
-        if self.running:
-            self.log("Already running")
-            return False
-        
-        self.running = True
-        self.paused = False
-        
-        with self._state_lock:
-            self.state = StitchState()
-            self.state.is_scanning = True
-        
-        with self._mosaic_lock:
-            self.mosaic = None
-        
-        self._prev_frame = None
-        self._displacement_since_append_x = 0.0
-        self._displacement_since_append_y = 0.0
-        
-        self._thread = threading.Thread(target=self._scan_loop, daemon=True)
-        self._thread.start()
-        
-        self.log("Stitching scan started")
-        return True
-    
-    def stop(self):
-        self.running = False
-        self.paused = False
-        self.motion.stop_all()
-        
-        with self._state_lock:
-            self.state.is_scanning = False
-        
-        self.log("Scan stopped")
-    
-    def pause(self):
-        if self.running and not self.paused:
-            self.paused = True
-            self.motion.stop_all()
-            self.log("Scan paused")
-    
-    def resume(self):
-        if self.running and self.paused:
-            self.paused = False
-            self.log("Scan resumed")
-    
-    # =========================================================================
-    # Scanning Logic
-    # =========================================================================
-    
-    def _scan_loop(self):
-        try:
-            self.log("Starting scan loop")
-            self.log(f"Max dimensions: {self.config.max_mosaic_width}x{self.config.max_mosaic_height}")
-            
-            self.motion.set_speed(self.config.scan_speed_index)
-            time.sleep(0.1)
-            
-            frame = self._capture_frame()
-            self._init_mosaic(frame)
-            
-            row = 0
-            while self.running:
-                with self._state_lock:
-                    self.state.current_row = row
-                    self.state.total_rows = row + 1
-                
-                self.log(f"=== Row {row + 1} ===")
-                
-                # Serpentine: even rows right, odd rows left
-                h_direction = ScanDirection.RIGHT if row % 2 == 0 else ScanDirection.LEFT
-                
-                stop_reason = self._scan_direction(h_direction)
-                
-                if not self.running:
-                    break
-                
-                # Check max height
-                if self.state.mosaic_height >= self.config.max_mosaic_height:
-                    self.log(f"Max height reached ({self.state.mosaic_height}px)")
-                    break
-                
-                # Move to next row using same stitching approach
-                if not self._move_to_next_row():
-                    self.log("Failed to move to next row")
-                    break
-                
-                row += 1
-            
-            self.log(f"Scan complete! Final: {self.state.mosaic_width}x{self.state.mosaic_height}")
-            
-        except Exception as e:
-            self.log(f"Scan error: {e}")
-            import traceback
-            traceback.print_exc()
-        finally:
-            self.running = False
-            self.motion.stop_all()
-            with self._state_lock:
-                self.state.is_scanning = False
-    
-    def _scan_direction(self, direction: ScanDirection) -> str:
-        """Scan in a direction until edge or max dimension reached."""
-        self.log(f"Scanning {direction.value}...")
-        
-        with self._state_lock:
-            self.state.direction = direction.value
-        
-        frame = self._capture_frame()
-        h, w = frame.shape[:2]
-        
-        # Setup based on direction
-        if direction in [ScanDirection.RIGHT, ScanDirection.LEFT]:
-            threshold_pixels = w * self.config.displacement_threshold
-            max_dim = self.config.max_mosaic_width
-            current_dim = lambda: self.state.mosaic_width
-            start_cmd = 'E' if direction == ScanDirection.RIGHT else 'W'
-            stop_cmd = 'e' if direction == ScanDirection.RIGHT else 'w'
-        else:
-            threshold_pixels = h * self.config.displacement_threshold
-            max_dim = self.config.max_mosaic_height
-            current_dim = lambda: self.state.mosaic_height
-            start_cmd = 'S' if direction == ScanDirection.DOWN else 'N'
-            stop_cmd = 's' if direction == ScanDirection.DOWN else 'n'
-        
-        self._prev_frame = frame.copy()
-        self._displacement_since_append_x = 0.0
-        self._displacement_since_append_y = 0.0
-        
-        start_time = time.time()
-        no_movement_count = 0
-        max_no_movement = 50
-        stop_reason = 'stopped'
-        
-        while self.running and not self.paused:
-            if time.time() - start_time > self.config.max_scan_time:
-                self.log("Scan timeout")
-                stop_reason = 'timeout'
-                break
-            
-            if current_dim() >= max_dim:
-                self.log(f"Max dimension reached ({current_dim()}px)")
-                stop_reason = 'max_dim'
-                break
-            
-            # Pulse motor
-            self.motion.send_command(start_cmd)
-            time.sleep(self.config.movement_interval)
-            self.motion.send_command(stop_cmd)
-            
-            time.sleep(self.config.frame_interval)
-            
-            curr_frame = self._capture_frame()
-            dx, dy = self._detect_displacement_robust(self._prev_frame, curr_frame)
-            
-            self._displacement_since_append_x += dx
-            self._displacement_since_append_y += dy
-            
-            with self._state_lock:
-                self.state.cumulative_x = self._displacement_since_append_x
-                self.state.cumulative_y = self._displacement_since_append_y
-                self.state.last_displacement = (dx, dy)
-                self.state.frame_count += 1
-            
-            # Edge detection
-            movement = abs(dx) if direction in [ScanDirection.RIGHT, ScanDirection.LEFT] else abs(dy)
-            if movement < 1.0:
-                no_movement_count += 1
-                if no_movement_count >= max_no_movement:
-                    self.log(f"Edge detected (no movement)")
-                    stop_reason = 'edge'
-                    break
-            else:
-                no_movement_count = 0
-            
-            # Append when threshold reached
-            disp = abs(self._displacement_since_append_x) if direction in [ScanDirection.RIGHT, ScanDirection.LEFT] else abs(self._displacement_since_append_y)
-            if disp >= threshold_pixels:
-                self._append_strip(curr_frame, direction)
-                self.log(f"Appended {disp:.1f}px, mosaic: {self.state.mosaic_width}x{self.state.mosaic_height}")
-            
-            self._prev_frame = curr_frame.copy()
-            
-            if self.on_progress:
-                self.on_progress(self.state.append_count, 0)
-        
-        self.motion.send_command(stop_cmd)
-        time.sleep(self.config.settle_time)
-        self.log(f"Direction finished: {stop_reason}")
-        return stop_reason
-    
-    def _move_to_next_row(self) -> bool:
-        """
-        Move down to next row using displacement-based stitching.
-        Same approach as horizontal scanning.
-        """
-        self.log("Moving to next row...")
-        
-        frame = self._capture_frame()
-        h, w = frame.shape[:2]
-        
-        # Target: move (1 - overlap) * frame_height
-        target_displacement = h * (1 - self.config.row_overlap)
-        threshold_pixels = h * self.config.displacement_threshold
-        
-        self.log(f"Target Y: {target_displacement:.0f}px, threshold: {threshold_pixels:.0f}px")
-        
-        with self._state_lock:
-            self.state.direction = 'down'
-            self.state.cumulative_y = 0.0
-        
-        self._prev_frame = frame.copy()
-        self._displacement_since_append_x = 0.0
-        self._displacement_since_append_y = 0.0
-        
-        total_y = 0.0
-        no_movement_count = 0
-        max_no_movement = 30
-        
-        # Start moving South
-        self.motion.send_command('S')
-        
-        try:
-            while self.running:
-                time.sleep(self.config.frame_interval)
-                
-                curr_frame = self._capture_frame()
-                dx, dy = self._detect_displacement_robust(self._prev_frame, curr_frame)
-                
-                self._displacement_since_append_y += dy
-                total_y += dy
-                
-                with self._state_lock:
-                    self.state.cumulative_y = total_y
-                    self.state.last_displacement = (dx, dy)
-                
-                # Edge detection
-                if abs(dy) < 1.0:
-                    no_movement_count += 1
-                    if no_movement_count >= max_no_movement:
-                        self.log("Edge detected during row transition")
-                        self.motion.send_command('s')
-                        time.sleep(self.config.settle_time)
-                        return False
-                else:
-                    no_movement_count = 0
-                
-                # Append strip when threshold reached
-                if abs(self._displacement_since_append_y) >= threshold_pixels:
-                    self._append_strip(curr_frame, ScanDirection.DOWN)
-                    self.log(f"  Row transition: appended, total Y: {abs(total_y):.1f}px")
-                
-                # Done when we've moved enough
-                if abs(total_y) >= target_displacement:
-                    self.log(f"Row transition complete: {abs(total_y):.1f}px")
-                    self.motion.send_command('s')
-                    time.sleep(self.config.settle_time)
-                    
-                    # Reset for next horizontal row
-                    frame = self._capture_frame()
-                    self._prev_frame = frame.copy()
-                    self._displacement_since_append_x = 0.0
-                    self._displacement_since_append_y = 0.0
-                    return True
-                
-                self._prev_frame = curr_frame.copy()
-        
-        except Exception as e:
-            self.log(f"Row transition error: {e}")
-            self.motion.send_command('s')
-            return False
-        
-        self.motion.send_command('s')
-        time.sleep(self.config.settle_time)
-        return False
-    
-    def _capture_frame(self) -> np.ndarray:
-        frame = self.camera.capture_frame()
-        frame = cv2.rotate(frame, cv2.ROTATE_90_CLOCKWISE)
-        return frame
-    
-    # =========================================================================
-    # Getters
-    # =========================================================================
-    
-    def get_state(self) -> StitchState:
-        with self._state_lock:
-            return StitchState(
-                is_scanning=self.state.is_scanning,
-                direction=self.state.direction,
-                cumulative_x=self.state.cumulative_x,
-                cumulative_y=self.state.cumulative_y,
-                last_displacement=self.state.last_displacement,
-                current_row=self.state.current_row,
-                total_rows=self.state.total_rows,
-                mosaic_width=self.state.mosaic_width,
-                mosaic_height=self.state.mosaic_height,
-                frame_count=self.state.frame_count,
-                append_count=self.state.append_count
-            )
-    
-    def get_mosaic(self) -> Optional[np.ndarray]:
-        with self._mosaic_lock:
-            if self.mosaic is not None:
-                return self.mosaic.copy()
-            return None
-    
-    def get_mosaic_preview(self, max_size: int = 600) -> Optional[np.ndarray]:
-        with self._mosaic_lock:
-            if self.mosaic is None:
-                return None
-            
-            h, w = self.mosaic.shape[:2]
-            scale = min(max_size / w, max_size / h, 1.0)
-            
-            if scale < 1.0:
-                new_w = int(w * scale)
-                new_h = int(h * scale)
-                return cv2.resize(self.mosaic, (new_w, new_h))
-            
-            return self.mosaic.copy()
-    
-    def save_mosaic(self, filepath: str) -> bool:
-        with self._mosaic_lock:
-            if self.mosaic is None:
-                return False
-            cv2.imwrite(filepath, self.mosaic)
-            self.log(f"Saved mosaic to {filepath}")
-            return True
-    
-    # =========================================================================
-    # Testing
-    # =========================================================================
-    
-    def test_displacement(self, num_frames: int = 10) -> dict:
-        results = {'frames': [], 'total_dx': 0.0, 'total_dy': 0.0}
-        prev_frame = self._capture_frame()
-        
-        for i in range(num_frames):
-            time.sleep(0.1)
-            curr_frame = self._capture_frame()
-            dx, dy = self._detect_displacement(prev_frame, curr_frame)
-            results['frames'].append({'frame': i, 'dx': dx, 'dy': dy})
-            results['total_dx'] += dx
-            results['total_dy'] += dy
-            prev_frame = curr_frame
-        
-        return results
-    
-    def test_row_transition(self) -> dict:
-        """Test row transition using displacement stitching."""
-        results = {
-            'success': False,
-            'y_moved': 0.0,
-            'mosaic_before': (0, 0),
-            'mosaic_after': (0, 0),
-            'error': None
-        }
-        
-        try:
-            self.log("Testing row transition...")
-            
-            if self.mosaic is None:
-                frame = self._capture_frame()
-                self._init_mosaic(frame)
-            
-            results['mosaic_before'] = (self.state.mosaic_width, self.state.mosaic_height)
-            
-            with self._state_lock:
-                self.state.cumulative_y = 0.0
-            
-            self.running = True
-            success = self._move_to_next_row()
-            self.running = False
-            
-            results['success'] = success
-            results['y_moved'] = self.state.cumulative_y
-            results['mosaic_after'] = (self.state.mosaic_width, self.state.mosaic_height)
-            
-            self.log(f"Row transition: {'SUCCESS' if success else 'FAILED'}, Y: {results['y_moved']:.1f}px")
-            
-        except Exception as e:
-            results['error'] = str(e)
-            self.log(f"Test error: {e}")
-            self.running = False
-        
-        return results
-    
-    def test_single_row(self, direction: str = 'right') -> dict:
-        """Test scanning a single row."""
-        results = {
-            'success': False,
-            'stop_reason': None,
-            'appends': 0,
-            'mosaic_before': (0, 0),
-            'mosaic_after': (0, 0),
-            'error': None
-        }
-        
-        try:
-            self.log(f"Testing single row ({direction})...")
-            
-            if self.mosaic is None:
-                frame = self._capture_frame()
-                self._init_mosaic(frame)
-            
-            results['mosaic_before'] = (self.state.mosaic_width, self.state.mosaic_height)
-            appends_before = self.state.append_count
-            
-            self.motion.set_speed(self.config.scan_speed_index)
-            time.sleep(0.1)
-            
-            self.running = True
-            scan_dir = ScanDirection.RIGHT if direction == 'right' else ScanDirection.LEFT
-            stop_reason = self._scan_direction(scan_dir)
-            self.running = False
-            
-            results['success'] = True
-            results['stop_reason'] = stop_reason
-            results['appends'] = self.state.append_count - appends_before
-            results['mosaic_after'] = (self.state.mosaic_width, self.state.mosaic_height)
-            
-        except Exception as e:
-            results['error'] = str(e)
-            self.running = False
-        
-        return results
-    
-    def get_memory_estimate(self) -> dict:
-        current_bytes = self.mosaic.nbytes if self.mosaic is not None else 0
-        max_bytes = self.config.max_mosaic_width * self.config.max_mosaic_height * 3
-        
-        return {
-            'current_size': (self.state.mosaic_width, self.state.mosaic_height),
-            'current_mb': current_bytes / (1024 * 1024),
-            'max_size': (self.config.max_mosaic_width, self.config.max_mosaic_height),
-            'max_mb': max_bytes / (1024 * 1024),
-        }