react-native-image-stitcher 0.14.2 → 0.15.0

package/ios/Sources/RNImageStitcher/OpenCVStitcher.mm

@@ -169,6 +169,28 @@ static cv::Rect MaxInscribedRectFromMask(const cv::Mat &mask) {
     return bestRect;
 }
 
+// v0.15 — fill interior holes of a content mask so that ONLY black
+// connected to the image BORDER (the never-covered projection wedges)
+// stays excluded.  Dark image content (unlit furniture, shadow) forms
+// INTERIOR holes surrounded by content — those are filled back in.
+// This is the pixel-based proxy for true frame coverage, which the
+// shared high-level cv::Stitcher path doesn't expose.
+static cv::Mat FillBorderConnectedHoles(const cv::Mat &mask) {
+    // Pad a 1px black border so the exterior is one connected region,
+    // then flood the border-connected black to white from the corner.
+    cv::Mat padded;
+    cv::copyMakeBorder(mask, padded, 1, 1, 1, 1, cv::BORDER_CONSTANT, cv::Scalar(0));
+    cv::floodFill(padded, cv::Point(0, 0), cv::Scalar(255));
+    cv::Mat exterior = padded(cv::Rect(1, 1, mask.cols, mask.rows));
+    // Pixels still 0 after the flood are interior holes (never reached
+    // from the border) → real content to keep.
+    cv::Mat holes;
+    cv::bitwise_not(exterior, holes);
+    cv::Mat filled;
+    cv::bitwise_or(mask, holes, filled);
+    return filled;
+}
+
 
 // V16 Phase 1b.fix3 — write a cv::Mat (BGR) as a JPEG with an EXIF
 // Orientation tag, via ImageIO.  iOS image renderers (UIImage,
@@ -304,7 +326,7 @@ NSString *normalizeImagePath(NSString *path) {
 //   - error mapping: the explicit StitchErrorCode → NSError.code
 //     switch in this file at the new wrapper (lines ~528-595)
 // Removed to keep the anonymous namespace tight; sibling methods
-// (stitchKeyframePaths, stitchVideoAtPath) don't need them.
+// (stitchFramePaths, stitchVideoAtPath) don't need them.
 
 // Phase 5: build a cv::detail::CameraParams from an ARKit pose.
 //
@@ -421,10 +443,16 @@ cv::detail::CameraParams cameraParamsFromPose(NSDictionary *pose) {
   if (seamFinderType == nil || seamFinderType.length == 0) seamFinderType = @"graphcut";
   if (captureOrientation == nil || captureOrientation.length == 0) captureOrientation = @"portrait";
 
-  // Build the shared-C++ config.  Sentinel resolution budgets (-1.0)
-  // let the manual entry point pick its own defaults (registration
-  // 0.6 MP / seam 0.1 MP / compose 0.6 MP per Phase 1 fixes).
+  // Build the shared-C++ config.
+  //
+  // 2026-06-06 (parity — see docs/stitch-pipeline-architecture.md §3/§7):
+  // explicitly match the high-level / Android resolution budget instead of
+  // leaving the sentinel -1.0, which made the manual entry point fall back
+  // to its LOW defaults (registration 0.3 MP / compose 0.6 MP — half /
+  // 0.6x Android's 0.6 / 1.0 MP, a major reason iOS output looked softer).
   retailens::StitchConfig cfg;
+  cfg.registrationResolMP  = 0.6;   // cv::Stitcher default
+  cfg.compositingResolMP   = 1.0;   // high-level default (manual was 0.6)
   cfg.warperType           = warperType.UTF8String;
   cfg.blenderType          = blenderType.UTF8String;
   cfg.seamFinderType       = seamFinderType.UTF8String;
@@ -848,998 +876,196 @@ cv::detail::CameraParams cameraParamsFromPose(NSDictionary *pose) {
 
 
 // ─────────────────────────────────────────────────────────────────────
-// Phase 5: pose-driven video → panorama (ARKit/ARCore)
+// Photo orientation normalisation
 // ─────────────────────────────────────────────────────────────────────
-//
-// Same end-to-end shape as `stitchVideoAtPath` but consumes
-// pre-computed camera poses (from ARKit/ARCore via the host's
-// RNSARSession) and skips the brittle features → matching
-// → BundleAdjuster steps that the feature-matched path runs.
-// The compose stage (warp + seam + blend + crop) is duplicated
-// from `stitchFramePaths` rather than refactored — keeps the
-// hard-won existing pipeline untouched while we field-test the
-// pose path; both paths can be DRY'd into a shared helper once
-// the new code is proven on real shelf captures.
-
-+ (nullable RNStitchResult *)stitchVideoAtPath:(NSString *)videoPath
-                                           outputPath:(NSString *)outputPath
-                                            maxFrames:(NSInteger)maxFrames
-                                          jpegQuality:(NSInteger)quality
-                                           warperType:(NSString *)warperType
-                                          blenderType:(NSString *)blenderType
-                                       seamFinderType:(NSString *)seamFinderType
-                                                poses:(NSArray<NSDictionary *> *)poses
-                                                error:(NSError **)error {
-  if (warperType == nil || warperType.length == 0) warperType = @"plane";
-  if (blenderType == nil || blenderType.length == 0) blenderType = @"multiband";
-  if (seamFinderType == nil || seamFinderType.length == 0) seamFinderType = @"graphcut";
-  if (poses.count < 2) {
-    if (error) {
-      *error = [NSError errorWithDomain:RNImageStitcherErrorDomain
-                                   code:1030
-                               userInfo:@{
-        NSLocalizedDescriptionKey:
-          @"Pose-driven stitch needs at least 2 poses; got fewer.",
-      }];
-    }
-    return nil;
-  }
-
-  NSString *tmpDir =
-      [NSTemporaryDirectory() stringByAppendingPathComponent:
-          [NSString stringWithFormat:@"RNImageStitcherStitchAR-%@",
-              [[NSUUID UUID] UUIDString]]];
-
-  // Extract evenly-spaced frames from the video (same helper the
-  // feature-matched path uses).  Returns paths only; we'll compute
-  // each frame's timestamp ourselves to match against `poses`.
-  NSError *extractErr = nil;
-  NSArray<NSString *> *framePaths =
-      [self extractFramesFromVideoAtPath:videoPath
-                              outputDir:tmpDir
-                              maxFrames:maxFrames
-                            jpegQuality:quality
-                                  error:&extractErr];
-  if (!framePaths) {
-    [[NSFileManager defaultManager] removeItemAtPath:tmpDir error:nil];
-    if (error) *error = extractErr;
-    return nil;
-  }
-
-  // Compute total video duration so frame timestamps match what
-  // the AR session captured.  Pose timestamps are in absolute ms;
-  // we normalise against poses[0] so they align with the mp4
-  // timeline (which AVAssetWriter wrote starting at 0).
-  NSURL *videoURL = [NSURL fileURLWithPath:
-      ([videoPath hasPrefix:@"file://"]
-        ? [videoPath substringFromIndex:[@"file://" length]]
-        : videoPath)];
-  AVURLAsset *asset = [AVURLAsset assetWithURL:videoURL];
-  Float64 totalSeconds = CMTimeGetSeconds(asset.duration);
-  if (!isfinite(totalSeconds) || totalSeconds <= 0) {
-    [[NSFileManager defaultManager] removeItemAtPath:tmpDir error:nil];
-    if (error) {
-      *error = [NSError errorWithDomain:RNImageStitcherErrorDomain
-                                   code:1031
-                               userInfo:@{
-        NSLocalizedDescriptionKey:
-          @"Could not read video duration for pose-time alignment.",
-      }];
-    }
-    return nil;
-  }
-  double baseMs = [poses[0][@"timestampMs"] doubleValue];
-
-  // Match each extracted frame to its closest pose by timestamp.
-  // Tolerance is 100 ms — at 60 Hz pose log + 30 fps frame extract,
-  // worst case is ~17 ms drift, plenty of headroom.
-  NSInteger N = (NSInteger)framePaths.count;
-  std::vector<cv::Mat> frames;
-  std::vector<cv::detail::CameraParams> cameras;
-  frames.reserve(N);
-  cameras.reserve(N);
-  int matched = 0, dropped = 0;
-  for (NSInteger i = 0; i < N; i++) {
-    Float64 fraction = (N == 1) ? 0.0 : ((Float64)i / (Float64)(N - 1));
-    Float64 frameTimeMs = fraction * totalSeconds * 1000.0;
-
-    NSDictionary *bestPose = nil;
-    double bestDelta = INFINITY;
-    for (NSDictionary *pose in poses) {
-      double poseMs = [pose[@"timestampMs"] doubleValue] - baseMs;
-      double delta = fabs(poseMs - frameTimeMs);
-      if (delta < bestDelta) {
-        bestDelta = delta;
-        bestPose = pose;
-      }
-    }
-    if (!bestPose || bestDelta > 100.0) {
-      dropped++;
-      continue;
-    }
-    // V16 Phase 1.fix3 — IMREAD_IGNORE_ORIENTATION parity with the
-    // batch-keyframe path.  AVAssetImageGenerator writes JPEGs with
-    // EXIF Orientation tags; cv::imread defaults (OpenCV 4.5+) apply
-    // them, returning rotated pixels that don't match the pose's
-    // intrinsics (which describe the unrotated landscape sensor).
-    // Force raw landscape pixels for the stitcher.
-    cv::Mat img = cv::imread([framePaths[i] UTF8String],
-                             cv::IMREAD_COLOR | cv::IMREAD_IGNORE_ORIENTATION);
-    if (img.empty()) {
-      dropped++;
-      continue;
-    }
-    frames.push_back(img);
-    cameras.push_back(cameraParamsFromPose(bestPose));
-    matched++;
-  }
-  NSLog(@"[BatchStitcher] pose-driven: matched=%d dropped=%d",
-        matched, dropped);
-
-  if (frames.size() < 2) {
-    [[NSFileManager defaultManager] removeItemAtPath:tmpDir error:nil];
-    if (error) {
-      *error = [NSError errorWithDomain:RNImageStitcherErrorDomain
-                                   code:1032
-                               userInfo:@{
-        NSLocalizedDescriptionKey:
-          @"Fewer than 2 frames matched a pose within tolerance — "
-           "AR tracking may have been lost during the pan.",
-      }];
-    }
-    return nil;
-  }
-
-  auto t0 = std::chrono::steady_clock::now();
-  cv::Mat panorama;
-
-  @autoreleasepool {
-  try {
-    // Pose-driven path: cameras already populated.  intrinsics are
-    // at the source frame's native resolution, so work_scale = 1.0.
-    int origCols = frames[0].cols;
-    int origRows = frames[0].rows;
-    double origMp = (double)origCols * origRows / 1e6;
-    constexpr double COMPOSE_MP = 1.0;
-    double compose_scale = (origMp > COMPOSE_MP)
-        ? std::sqrt(COMPOSE_MP / origMp)
-        : 1.0;
-    double compose_work_aspect = compose_scale;  // work_scale == 1
-
-    // No camera-0 normalisation in the pose-driven path.
-    //
-    // I added one previously thinking it matched cv::Stitcher's BA
-    // convention.  In fact it BROKE the natural orientation: BA
-    // normalises into a frame where camera 0's "up" is the panorama
-    // up; for pose-driven, the cameras already live in ARKit's
-    // gravity-aligned world (Y-up = scene up regardless of phone
-    // orientation), so passing R values in ARKit's world frame is
-    // exactly what cv::detail::SphericalWarper wants — it unwraps
-    // the sphere with world's +Y as up, giving correct orientation
-    // for any phone pose + any pan direction.  Normalising rotated
-    // the panorama 90° (the user's left-to-right pan in portrait
-    // came out with natural-up on the side).
-    //
-    // waveCorrect below provides the per-camera fine alignment that
-    // BA would have done in the feature-matched path.
-
-    // Optional waveCorrect — uses HORIZ to match the feature-
-    // matched path.  Operators may pan in any direction; HORIZ
-    // aligns each camera's "up" to the world Y axis (gravity),
-    // which is what we want for both portrait+horizontal and
-    // landscape+vertical pans (assuming the user keeps the phone
-    // oriented to gravity, which is the typical handheld case).
-    std::vector<cv::Mat> rmats;
-    rmats.reserve(cameras.size());
-    for (const auto &cam : cameras) rmats.push_back(cam.R.clone());
-    try {
-      cv::detail::waveCorrect(rmats, cv::detail::WAVE_CORRECT_HORIZ);
-      for (size_t i = 0; i < cameras.size(); i++) {
-        cameras[i].R = rmats[i];
-      }
-    } catch (const cv::Exception &e) {
-      NSLog(@"[BatchStitcher] pose: wave correction skipped: %s", e.what());
-    }
-
-    // Rescale intrinsics for compose-scale warping.
-    for (auto &cam : cameras) {
-      cam.focal *= compose_work_aspect;
-      cam.ppx   *= compose_work_aspect;
-      cam.ppy   *= compose_work_aspect;
-    }
-
-    std::vector<double> focals;
-    for (const auto &cam : cameras) focals.push_back(cam.focal);
-    std::sort(focals.begin(), focals.end());
-    float warpedScale = focals.empty() ? 1.0f
-                                       : (float)focals[focals.size() / 2];
-
-    cv::Ptr<cv::WarperCreator> warperCreator;
-    if ([warperType isEqualToString:@"cylindrical"]) {
-      warperCreator = cv::makePtr<cv::CylindricalWarper>();
-    } else if ([warperType isEqualToString:@"spherical"]) {
-      warperCreator = cv::makePtr<cv::SphericalWarper>();
-    } else {
-      warperCreator = cv::makePtr<cv::PlaneWarper>();
-    }
-    cv::Ptr<cv::detail::RotationWarper> warper =
-        warperCreator->create(warpedScale);
-
-    // Build composeFrames at COMPOSE_MP from full-res input.
-    std::vector<cv::Mat> composeFrames;
-    composeFrames.reserve(frames.size());
-    for (const auto &f : frames) {
-      cv::Mat scaled;
-      if (std::abs(compose_scale - 1.0) > 1e-3) {
-        cv::resize(f, scaled, cv::Size(), compose_scale, compose_scale,
-                   cv::INTER_AREA);
-      } else {
-        scaled = f.clone();
-      }
-      composeFrames.push_back(scaled);
-    }
-    for (auto &f : frames) f.release();
-    frames.clear();
-
-    // Build the blender (same selection logic as the feature-matched
-    // path).  The "u != 0" UMat assertion the original feature-matched
-    // builds hit was OOM-induced; with the per-frame Mat releases
-    // and @autoreleasepool from that path's stabilisation, MultiBand
-    // + GraphCut are safe here too.
-    BOOL useSeam = [seamFinderType isEqualToString:@"graphcut"];
-    cv::Ptr<cv::detail::Blender> blender;
-    if ([blenderType isEqualToString:@"feather"]) {
-      blender = cv::detail::Blender::createDefault(
-          cv::detail::Blender::FEATHER, false);
-      auto fb = blender.dynamicCast<cv::detail::FeatherBlender>();
-      if (fb) fb->setSharpness(0.02f);
-    } else {
-      blender = cv::detail::Blender::createDefault(
-          cv::detail::Blender::MULTI_BAND, false);
-      auto mbb = blender.dynamicCast<cv::detail::MultiBandBlender>();
-      if (mbb) mbb->setNumBands(5);
-    }
-
-    if (useSeam) {
-      const size_t M = composeFrames.size();
-      std::vector<cv::Point> corners(M);
-      std::vector<cv::Mat> imagesWarped(M);
-      std::vector<cv::Mat> masksWarped(M);
-      std::vector<cv::Size> sizes(M);
-      for (size_t i = 0; i < M; i++) {
-        cv::Mat K;
-        cameras[i].K().convertTo(K, CV_32F);
-        cv::Mat mask(composeFrames[i].size(), CV_8U, cv::Scalar(255));
-        corners[i] = warper->warp(
-            composeFrames[i], K, cameras[i].R, cv::INTER_LINEAR,
-            cv::BORDER_CONSTANT, imagesWarped[i]);
-        warper->warp(mask, K, cameras[i].R, cv::INTER_NEAREST,
-                     cv::BORDER_CONSTANT, masksWarped[i]);
-        sizes[i] = imagesWarped[i].size();
-      }
-      for (auto &cf : composeFrames) cf.release();
-      composeFrames.clear();
-
-      // Seam finder at SEAM_MP scale (same downscale-find-upscale
-      // pattern as the feature-matched path).
-      const double SEAM_MP = 0.1;
-      double seam_scale = std::min(1.0, std::sqrt(SEAM_MP / origMp));
-      double seam_compose_aspect = seam_scale / compose_scale;
-      std::vector<cv::UMat> imagesWarpedF_seam(M);
-      std::vector<cv::UMat> masksWarpedU_seam(M);
-      std::vector<cv::Point> corners_seam(M);
-      for (size_t i = 0; i < M; i++) {
-        cv::Mat seamImage, seamMask;
-        cv::resize(imagesWarped[i], seamImage, cv::Size(),
-                   seam_compose_aspect, seam_compose_aspect,
-                   cv::INTER_LINEAR);
-        cv::resize(masksWarped[i], seamMask, cv::Size(),
-                   seam_compose_aspect, seam_compose_aspect,
-                   cv::INTER_NEAREST);
-        seamImage.convertTo(imagesWarpedF_seam[i], CV_32F);
-        seamMask.copyTo(masksWarpedU_seam[i]);
-        corners_seam[i] = cv::Point(
-            cvRound(corners[i].x * seam_compose_aspect),
-            cvRound(corners[i].y * seam_compose_aspect));
-      }
-      cv::Ptr<cv::detail::SeamFinder> seamFinder =
-          cv::makePtr<cv::detail::GraphCutSeamFinder>(
-              cv::detail::GraphCutSeamFinder::COST_COLOR);
-      seamFinder->find(imagesWarpedF_seam, corners_seam, masksWarpedU_seam);
-      imagesWarpedF_seam.clear();
-      for (size_t i = 0; i < M; i++) {
-        cv::Mat seamMaskCpu, seamMaskDilated, seamMaskFull;
-        masksWarpedU_seam[i].copyTo(seamMaskCpu);
-        cv::dilate(seamMaskCpu, seamMaskDilated, cv::Mat());
-        cv::resize(seamMaskDilated, seamMaskFull,
-                   masksWarped[i].size(), 0, 0, cv::INTER_LINEAR);
-        cv::bitwise_and(seamMaskFull, masksWarped[i], masksWarped[i]);
-      }
-      masksWarpedU_seam.clear();
-
-      blender->prepare(corners, sizes);
-      for (size_t i = 0; i < M; i++) {
-        cv::Mat imgS;
-        imagesWarped[i].convertTo(imgS, CV_16S);
-        blender->feed(imgS, masksWarped[i], corners[i]);
-        imagesWarped[i].release();
-        masksWarped[i].release();
-        imgS.release();
-      }
-      imagesWarped.clear();
-      masksWarped.clear();
-    } else {
-      // STREAM path
-      const size_t M = composeFrames.size();
-      std::vector<cv::Point> corners(M);
-      std::vector<cv::Size> sizes(M);
-      for (size_t i = 0; i < M; i++) {
-        cv::Mat K;
-        cameras[i].K().convertTo(K, CV_32F);
-        cv::Mat mask(composeFrames[i].size(), CV_8U, cv::Scalar(255));
-        cv::Mat tmpMaskWarped;
-        corners[i] = warper->warp(
-            mask, K, cameras[i].R, cv::INTER_NEAREST,
-            cv::BORDER_CONSTANT, tmpMaskWarped);
-        sizes[i] = tmpMaskWarped.size();
-      }
-      blender->prepare(corners, sizes);
-      for (size_t i = 0; i < M; i++) {
-        cv::Mat K;
-        cameras[i].K().convertTo(K, CV_32F);
-        cv::Mat mask(composeFrames[i].size(), CV_8U, cv::Scalar(255));
-        cv::Mat imgWarped, maskWarped;
-        warper->warp(composeFrames[i], K, cameras[i].R,
-                     cv::INTER_LINEAR, cv::BORDER_CONSTANT, imgWarped);
-        warper->warp(mask, K, cameras[i].R, cv::INTER_NEAREST,
-                     cv::BORDER_CONSTANT, maskWarped);
-        cv::Mat imgS;
-        imgWarped.convertTo(imgS, CV_16S);
-        blender->feed(imgS, maskWarped, corners[i]);
-        composeFrames[i].release();
-      }
-      composeFrames.clear();
-    }
+// Round-trip through cv::imread / cv::imwrite to bake the EXIF
+// rotation into the pixel buffer, then write a plain JPEG with no
+// orientation metadata.  Cheap (~ms for a typical iPhone JPEG) and
+// idempotent on already-normalised files.
 
-    cv::Mat panoramaS, panoramaMask;
-    blender->blend(panoramaS, panoramaMask);
-    panoramaS.convertTo(panorama, CV_8U);
-  } catch (const cv::Exception &e) {
-    [[NSFileManager defaultManager] removeItemAtPath:tmpDir error:nil];
-    if (error) {
-      *error = [NSError errorWithDomain:RNImageStitcherErrorDomain
-                                   code:1100
-                               userInfo:@{
-        NSLocalizedDescriptionKey:
-          [NSString stringWithFormat:
-            @"OpenCV exception during pose-driven stitch: %s", e.what()],
-      }];
-    }
-    return nil;
-  } catch (...) {
-    [[NSFileManager defaultManager] removeItemAtPath:tmpDir error:nil];
++ (NSDictionary<NSString *, NSNumber *> *)normaliseImageAtPath:(NSString *)imagePath
+                                                         error:(NSError **)error {
+  NSString *cleaned = normalizeImagePath(imagePath);
+  if (![[NSFileManager defaultManager] fileExistsAtPath:cleaned]) {
     if (error) {
       *error = [NSError errorWithDomain:RNImageStitcherErrorDomain
-                                   code:1102
+                                   code:1020
                                userInfo:@{
         NSLocalizedDescriptionKey:
-          @"Unknown exception during pose-driven stitch.",
+          [NSString stringWithFormat:@"Image not found: %@", imagePath],
       }];
     }
     return nil;
   }
-  }  // end @autoreleasepool
 
-  if (panorama.empty()) {
-    [[NSFileManager defaultManager] removeItemAtPath:tmpDir error:nil];
+  std::string nativePath(cleaned.UTF8String);
+  cv::Mat img = cv::imread(nativePath, cv::IMREAD_COLOR);
+  if (img.empty()) {
     if (error) {
       *error = [NSError errorWithDomain:RNImageStitcherErrorDomain
-                                   code:1003
+                                   code:1021
                                userInfo:@{
         NSLocalizedDescriptionKey:
-          @"Pose-driven stitch produced an empty panorama.",
+          [NSString stringWithFormat:@"Could not decode image at %@", imagePath],
       }];
     }
     return nil;
   }
 
-  // Crop to bounding box (skip the column-projection rect crop —
-  // pose-driven stitches don't have the hourglass shape that
-  // plane-warper feature-matched panoramas produce).
-  cv::Mat finalImage = panorama;
-  try {
-    cv::Mat gray;
-    cv::cvtColor(panorama, gray, cv::COLOR_BGR2GRAY);
-    cv::Mat mask;
-    cv::threshold(gray, mask, 1, 255, cv::THRESH_BINARY);
-    cv::Rect bbox = cv::boundingRect(mask);
-    if (bbox.width > 0 && bbox.height > 0
-        && bbox.width <= panorama.cols && bbox.height <= panorama.rows) {
-      finalImage = panorama(bbox).clone();
-    }
-  } catch (...) {
-    finalImage = panorama;
-  }
-
-  auto t1 = std::chrono::steady_clock::now();
-  double durationMs =
-      std::chrono::duration_cast<std::chrono::milliseconds>(t1 - t0).count();
-
-  NSInteger clampedQuality = MAX(0, MIN(100, quality));
-  std::vector<int> params = {
-      cv::IMWRITE_JPEG_QUALITY, static_cast<int>(clampedQuality),
+  std::vector<int> writeParams = {
+    cv::IMWRITE_JPEG_QUALITY, 92,
   };
-  NSString *cleanedOutPath = ([outputPath hasPrefix:@"file://"]
-      ? [outputPath substringFromIndex:[@"file://" length]]
-      : outputPath);
-  bool wrote = cv::imwrite([cleanedOutPath UTF8String], finalImage, params);
-
-  // Cleanup the tmp dir always.
-  [[NSFileManager defaultManager] removeItemAtPath:tmpDir error:nil];
-
-  if (!wrote) {
+  bool ok = cv::imwrite(nativePath, img, writeParams);
+  if (!ok) {
     if (error) {
       *error = [NSError errorWithDomain:RNImageStitcherErrorDomain
-                                   code:1002
+                                   code:1022
                                userInfo:@{
         NSLocalizedDescriptionKey:
           [NSString stringWithFormat:
-            @"Pose-driven stitch succeeded but could not write JPEG to %@",
-            outputPath],
+            @"Could not rewrite image at %@", imagePath],
       }];
     }
     return nil;
   }
 
-  return [[RNStitchResult alloc]
-      initWithOutputPath:outputPath
-                   width:(NSInteger)finalImage.cols
-                  height:(NSInteger)finalImage.rows
-              durationMs:durationMs];
+  return @{
+    @"width":  @((NSInteger)img.cols),
+    @"height": @((NSInteger)img.rows),
+  };
 }
 
-
-// ─────────────────────────────────────────────────────────────────────
-// V16 Phase 1: pose-driven stitch over explicit keyframe paths
-// ─────────────────────────────────────────────────────────────────────
-//
-// Same compose stage as the video-driven pose path above, minus the
-// AVAssetImageGenerator extract + timestamp-matching step.  Frames
-// arrive as already-on-disk JPEGs from the AR-keyframe capture flow;
-// poses are 1:1 with frames (KeyframeGate saved both as the user
-// panned).  Compose code is duplicated per the convention noted
-// above ("DRY when the new path is proven on real shelf captures").
-//
-// AUDIT NOTE (2026-05-15, sibling @autoreleasepool-return audit)
-// ──────────────────────────────────────────────────────────────
-//
-// This method (and the pose-driven `stitchVideoAtPath:withPoses:`
-// variant earlier in this file at ~line 2162) BOTH have the same
-// @autoreleasepool-return-UAF pattern that V16 fix-10 closed in
-// `stitchFramePaths:` at line 597 — autoreleased NSError* assigned
-// to the `error` outparameter from inside an @autoreleasepool, then
-// the function returns, the pool drains, the NSError dangles, the
-// caller crashes dereferencing.  See:
-//   docs/site-content/design/2026-05-12-finalize-crash-investigation.md
-//
-// CURRENT REACHABILITY: BOTH methods are dead code as of 2026-05-15.
-// Confirmed by grep — only referenced in dSYM debug symbols + comments,
-// never actually called from Swift/Obj-C/Kotlin source paths.  V16
-// batch-keyframe uses `stitchFramePaths:` exclusively; this method
-// was the earlier per-keyframe-with-pose design that was superseded.
-//
-// IF/WHEN RE-ENABLED, apply fix-10's pattern (also in this file
-// around `stitchFramePaths:` lines 562-571 + 1519-1527):
-//
-//   NSError *capturedError = nil;
-//   RNStitchResult *result = nil;
-//   @autoreleasepool {
-//     do {
-//       try { ... ; result = [[RNStitchResult alloc] init...]; break; }
-//       catch (cv::Exception &e) { capturedError = [NSError ...]; break; }
-//       catch (...) { capturedError = [NSError ...]; break; }
-//     } while (0);
-//   }
-//   if (capturedError) { if (error) *error = capturedError; return nil; }
-//   return result;
-//
-// Strong locals (`capturedError`, `result`) are declared OUTSIDE the
-// @autoreleasepool so their refcount survives the pool drain.  Both
-// success + failure paths exit the pool via `break` rather than
-// `return nil;` so the pool drains cleanly before the function
-// returns.
-//
-// Not applied now because the methods aren't called; risk is latent
-// not active.  Refactoring dead code carries its own risk (subtle
-// behaviour changes) without active testing.
-
-+ (nullable RNStitchResult *)stitchKeyframePaths:(NSArray<NSString *> *)framePaths
-                                            outputPath:(NSString *)outputPath
-                                           jpegQuality:(NSInteger)quality
-                                            warperType:(NSString *)warperType
-                                           blenderType:(NSString *)blenderType
-                                        seamFinderType:(NSString *)seamFinderType
-                                                 poses:(NSArray<NSDictionary *> *)poses
-                                                 error:(NSError **)error {
-  if (warperType == nil || warperType.length == 0) warperType = @"plane";
-  if (blenderType == nil || blenderType.length == 0) blenderType = @"multiband";
-  if (seamFinderType == nil || seamFinderType.length == 0) seamFinderType = @"graphcut";
-  if (framePaths.count < 2) {
++ (NSDictionary<NSString *, NSNumber *> *)computeInscribedRectAtPath:(NSString *)imagePath
+                                                              error:(NSError **)error {
+  NSString *cleaned = normalizeImagePath(imagePath);
+  if (![[NSFileManager defaultManager] fileExistsAtPath:cleaned]) {
     if (error) {
       *error = [NSError errorWithDomain:RNImageStitcherErrorDomain
-                                   code:1030
+                                   code:1020
                                userInfo:@{
         NSLocalizedDescriptionKey:
-          @"Keyframe stitch needs at least 2 frames; got fewer.",
+          [NSString stringWithFormat:@"Image not found: %@", imagePath],
       }];
     }
     return nil;
   }
-  if (framePaths.count != poses.count) {
+
+  std::string nativePath(cleaned.UTF8String);
+  cv::Mat img = cv::imread(nativePath, cv::IMREAD_COLOR);
+  if (img.empty()) {
     if (error) {
       *error = [NSError errorWithDomain:RNImageStitcherErrorDomain
-                                   code:1033
+                                   code:1021
                                userInfo:@{
         NSLocalizedDescriptionKey:
-          [NSString stringWithFormat:
-            @"Keyframe stitch requires 1:1 paths/poses; "
-             "got %lu paths, %lu poses.",
-            (unsigned long)framePaths.count,
-            (unsigned long)poses.count],
+          [NSString stringWithFormat:@"Could not decode image at %@", imagePath],
       }];
     }
     return nil;
   }
 
-  // V16 Phase 1 — memory diagnostic instrumentation.  Each stage
-  // logs phys_footprint (the metric jetsam evaluates) so we can
-  // bisect the stage that pushed us into OS-watchdog termination.
-  // FAULT level so iOS doesn't drop logs under burst.
-  os_log_with_type(StitcherDiagLog(), OS_LOG_TYPE_FAULT,
-         "[V16-stitch-mem] ENTER framePaths=%d posesCount=%d phys=%.1fMB",
-         (int)framePaths.count, (int)poses.count, StitcherResidentMB());
-
-  // Load each path → cv::Mat + cameraParams.  Drop any that fail
-  // to load (corrupt JPEG, missing file) — but require ≥2 to
-  // succeed for a panorama to be possible.
-  //
-  // V16 Phase 1.fix2 — IMREAD_IGNORE_ORIENTATION: collector saves
-  // JPEGs with an EXIF Orientation tag so iOS Image renderers (e.g.
-  // LiveFrameStrip) display correctly.  cv::imread defaults (since
-  // OpenCV 4.5+) APPLY the EXIF rotation; that would re-introduce
-  // the image-vs-intrinsics mismatch fix1 was meant to remove.  Pass
-  // IMREAD_IGNORE_ORIENTATION explicitly to get raw landscape sensor
-  // pixels for the stitcher.
-  std::vector<cv::Mat> frames;
-  std::vector<cv::detail::CameraParams> cameras;
-  frames.reserve(framePaths.count);
-  cameras.reserve(framePaths.count);
-  int loaded = 0, dropped = 0;
-  for (NSInteger i = 0; i < (NSInteger)framePaths.count; i++) {
-    NSString *path = framePaths[i];
-    NSString *cleaned = ([path hasPrefix:@"file://"]
-        ? [path substringFromIndex:[@"file://" length]]
-        : path);
-    cv::Mat img = cv::imread([cleaned UTF8String],
-                             cv::IMREAD_COLOR | cv::IMREAD_IGNORE_ORIENTATION);
-    if (img.empty()) {
-      dropped++;
-      continue;
+  // Prefer the TRUE coverage sidecar the stitch writes next to the
+  // panorama (<path>.coverage.png); fall back to the hole-fill brightness
+  // proxy when it's absent (e.g. a non-stitch image).
+  NSString *coveragePath = [cleaned stringByAppendingString:@".coverage.png"];
+  cv::Mat mask;
+  if ([[NSFileManager defaultManager] fileExistsAtPath:coveragePath]) {
+    cv::Mat cov = cv::imread(std::string(coveragePath.UTF8String), cv::IMREAD_GRAYSCALE);
+    if (!cov.empty() && cov.cols == img.cols && cov.rows == img.rows) {
+      cv::threshold(cov, mask, 0, 255, cv::THRESH_BINARY);
     }
-    frames.push_back(img);
-    cameras.push_back(cameraParamsFromPose(poses[i]));
-    loaded++;
-  }
-  NSLog(@"[BatchStitcher] keyframe-stitch: loaded=%d dropped=%d",
-        loaded, dropped);
-  if (!frames.empty()) {
-    os_log_with_type(StitcherDiagLog(), OS_LOG_TYPE_FAULT,
-           "[V16-stitch-mem] AFTER imread N=%d size=%dx%d totalMB=%.1f phys=%.1fMB",
-           (int)frames.size(),
-           frames[0].cols, frames[0].rows,
-           (double)frames.size() * frames[0].cols * frames[0].rows * 3
-             / (1024.0 * 1024.0),
-           StitcherResidentMB());
   }
-
-  if (frames.size() < 2) {
-    if (error) {
-      *error = [NSError errorWithDomain:RNImageStitcherErrorDomain
-                                   code:1032
-                               userInfo:@{
-        NSLocalizedDescriptionKey:
-          @"Fewer than 2 keyframes loaded successfully — JPEGs may "
-           "have been corrupted or removed before stitch ran.",
-      }];
-    }
-    return nil;
+  if (mask.empty()) {
+    cv::Mat gray, raw;
+    cv::cvtColor(img, gray, cv::COLOR_BGR2GRAY);
+    cv::threshold(gray, raw, 1, 255, cv::THRESH_BINARY);
+    mask = FillBorderConnectedHoles(raw);
   }
+  cv::Rect r = MaxInscribedRectFromMask(mask);
 
-  auto t0 = std::chrono::steady_clock::now();
-  cv::Mat panorama;
-
-  @autoreleasepool {
-  try {
-    int origCols = frames[0].cols;
-    int origRows = frames[0].rows;
-    double origMp = (double)origCols * origRows / 1e6;
-    constexpr double COMPOSE_MP = 1.0;
-    double compose_scale = (origMp > COMPOSE_MP)
-        ? std::sqrt(COMPOSE_MP / origMp)
-        : 1.0;
-    double compose_work_aspect = compose_scale;  // work_scale == 1
-
-    // V16 Phase 1.fix2 — auto-detect pan axis from camera rotation
-    // spread.  Compute the std-dev of camera "forward" vectors
-    // projected onto each world axis; the axis with the smallest
-    // spread is the pan-rotation axis (i.e. rotation about that
-    // axis is what differs across frames most).  HORIZ_PAN means
-    // rotation about world Y (yaw): use WAVE_CORRECT_HORIZ.
-    // VERT_PAN means rotation about world X (pitch): use WAVE_CORRECT_VERT.
-    //
-    // Earlier hardcoded HORIZ produced misaligned panoramas for
-    // Ram's top-to-bottom landscape pan (no yaw spread; pitch
-    // spread).  Picking the right axis lets waveCorrect actually
-    // help instead of being a no-op (or flipping the panorama).
-    cv::detail::WaveCorrectKind waveKind = cv::detail::WAVE_CORRECT_HORIZ;
-    if (cameras.size() >= 2) {
-      // forward[i] = -3rd-column of R (camera looks along -Z in cv)
-      double minF[3] = { 1e9, 1e9, 1e9};
-      double maxF[3] = {-1e9,-1e9,-1e9};
-      for (const auto &cam : cameras) {
-        for (int axis = 0; axis < 3; axis++) {
-          double v = -cam.R.at<float>(2, axis);
-          if (v < minF[axis]) minF[axis] = v;
-          if (v > maxF[axis]) maxF[axis] = v;
-        }
-      }
-      double rangeX = maxF[0] - minF[0];
-      double rangeY = maxF[1] - minF[1];
-      // Larger Y-range of forward => more vertical (pitch) variation
-      // => vertical pan => WAVE_CORRECT_VERT.
-      if (rangeY > rangeX) {
-        waveKind = cv::detail::WAVE_CORRECT_VERT;
-      }
-      os_log_with_type(StitcherDiagLog(), OS_LOG_TYPE_FAULT,
-             "[V16-stitch-mem] waveKind=%{public}s "
-             "rangeForwardX=%.3f rangeForwardY=%.3f",
-             (waveKind == cv::detail::WAVE_CORRECT_VERT)
-               ? "VERT (vertical pan)"
-               : "HORIZ (horizontal pan)",
-             rangeX, rangeY);
-    }
-    std::vector<cv::Mat> rmats;
-    rmats.reserve(cameras.size());
-    for (const auto &cam : cameras) rmats.push_back(cam.R.clone());
-    try {
-      cv::detail::waveCorrect(rmats, waveKind);
-      for (size_t i = 0; i < cameras.size(); i++) {
-        cameras[i].R = rmats[i];
-      }
-    } catch (const cv::Exception &e) {
-      NSLog(@"[BatchStitcher] keyframe: wave correction skipped: %s",
-            e.what());
-    }
-
-    // Rescale intrinsics for compose-scale warping.
-    for (auto &cam : cameras) {
-      cam.focal *= compose_work_aspect;
-      cam.ppx   *= compose_work_aspect;
-      cam.ppy   *= compose_work_aspect;
-    }
-
-    std::vector<double> focals;
-    for (const auto &cam : cameras) focals.push_back(cam.focal);
-    std::sort(focals.begin(), focals.end());
-    float warpedScale = focals.empty() ? 1.0f
-                                       : (float)focals[focals.size() / 2];
-
-    cv::Ptr<cv::WarperCreator> warperCreator;
-    if ([warperType isEqualToString:@"cylindrical"]) {
-      warperCreator = cv::makePtr<cv::CylindricalWarper>();
-    } else if ([warperType isEqualToString:@"spherical"]) {
-      warperCreator = cv::makePtr<cv::SphericalWarper>();
-    } else {
-      warperCreator = cv::makePtr<cv::PlaneWarper>();
-    }
-    cv::Ptr<cv::detail::RotationWarper> warper =
-        warperCreator->create(warpedScale);
-
-    // Build composeFrames at COMPOSE_MP from full-res input.
-    std::vector<cv::Mat> composeFrames;
-    composeFrames.reserve(frames.size());
-    for (const auto &f : frames) {
-      cv::Mat scaled;
-      if (std::abs(compose_scale - 1.0) > 1e-3) {
-        cv::resize(f, scaled, cv::Size(), compose_scale, compose_scale,
-                   cv::INTER_AREA);
-      } else {
-        scaled = f.clone();
-      }
-      composeFrames.push_back(scaled);
-    }
-    for (auto &f : frames) f.release();
-    frames.clear();
-    os_log_with_type(StitcherDiagLog(), OS_LOG_TYPE_FAULT,
-           "[V16-stitch-mem] AFTER composeFrames built+frames cleared "
-           "compose_scale=%.3f compose_size=%dx%d phys=%.1fMB",
-           compose_scale,
-           composeFrames.empty() ? 0 : composeFrames[0].cols,
-           composeFrames.empty() ? 0 : composeFrames[0].rows,
-           StitcherResidentMB());
-
-    BOOL useSeam = [seamFinderType isEqualToString:@"graphcut"];
-    cv::Ptr<cv::detail::Blender> blender;
-    if ([blenderType isEqualToString:@"feather"]) {
-      blender = cv::detail::Blender::createDefault(
-          cv::detail::Blender::FEATHER, false);
-      auto fb = blender.dynamicCast<cv::detail::FeatherBlender>();
-      if (fb) fb->setSharpness(0.02f);
-    } else {
-      blender = cv::detail::Blender::createDefault(
-          cv::detail::Blender::MULTI_BAND, false);
-      auto mbb = blender.dynamicCast<cv::detail::MultiBandBlender>();
-      if (mbb) mbb->setNumBands(5);
-    }
-    os_log_with_type(StitcherDiagLog(), OS_LOG_TYPE_FAULT,
-           "[V16-stitch-mem] config blender=%{public}@ seam=%{public}@ warper=%{public}@ phys=%.1fMB",
-           blenderType, seamFinderType, warperType, StitcherResidentMB());
-
-    if (useSeam) {
-      const size_t M = composeFrames.size();
-      std::vector<cv::Point> corners(M);
-      std::vector<cv::Mat> imagesWarped(M);
-      std::vector<cv::Mat> masksWarped(M);
-      std::vector<cv::Size> sizes(M);
-      for (size_t i = 0; i < M; i++) {
-        cv::Mat K;
-        cameras[i].K().convertTo(K, CV_32F);
-        cv::Mat mask(composeFrames[i].size(), CV_8U, cv::Scalar(255));
-        corners[i] = warper->warp(
-            composeFrames[i], K, cameras[i].R, cv::INTER_LINEAR,
-            cv::BORDER_CONSTANT, imagesWarped[i]);
-        warper->warp(mask, K, cameras[i].R, cv::INTER_NEAREST,
-                     cv::BORDER_CONSTANT, masksWarped[i]);
-        sizes[i] = imagesWarped[i].size();
-      }
-      // Compute panorama bbox so we can see if the warped span is
-      // unexpectedly large (drives MultiBand pyramid memory).
-      int minX = INT_MAX, minY = INT_MAX, maxX = INT_MIN, maxY = INT_MIN;
-      for (size_t i = 0; i < M; i++) {
-        minX = std::min(minX, corners[i].x);
-        minY = std::min(minY, corners[i].y);
-        maxX = std::max(maxX, corners[i].x + (int)sizes[i].width);
-        maxY = std::max(maxY, corners[i].y + (int)sizes[i].height);
-      }
-      os_log_with_type(StitcherDiagLog(), OS_LOG_TYPE_FAULT,
-             "[V16-stitch-mem] AFTER warps M=%d bbox=%dx%d "
-             "warpedTotalMB=%.1f phys=%.1fMB",
-             (int)M,
-             (maxX > minX ? maxX - minX : 0),
-             (maxY > minY ? maxY - minY : 0),
-             (double)M * (M ? sizes[0].width : 0)
-               * (M ? sizes[0].height : 0) * 3 / (1024.0 * 1024.0),
-             StitcherResidentMB());
-      const int panBboxW = (maxX > minX ? maxX - minX : 0);
-      const int panBboxH = (maxY > minY ? maxY - minY : 0);
-      // Quiet `unused variable` warnings if the inner os_log calls
-      // are stripped by the compiler in release builds.
-      (void)panBboxW; (void)panBboxH;
-      for (auto &cf : composeFrames) cf.release();
-      composeFrames.clear();
-      os_log_with_type(StitcherDiagLog(), OS_LOG_TYPE_FAULT,
-             "[V16-stitch-mem] AFTER composeFrames cleared (warps held) phys=%.1fMB",
-             StitcherResidentMB());
-
-      const double SEAM_MP = 0.1;
-      double seam_scale = std::min(1.0, std::sqrt(SEAM_MP / origMp));
-      double seam_compose_aspect = seam_scale / compose_scale;
-      std::vector<cv::UMat> imagesWarpedF_seam(M);
-      std::vector<cv::UMat> masksWarpedU_seam(M);
-      std::vector<cv::Point> corners_seam(M);
-      for (size_t i = 0; i < M; i++) {
-        cv::Mat seamImage, seamMask;
-        cv::resize(imagesWarped[i], seamImage, cv::Size(),
-                   seam_compose_aspect, seam_compose_aspect,
-                   cv::INTER_LINEAR);
-        cv::resize(masksWarped[i], seamMask, cv::Size(),
-                   seam_compose_aspect, seam_compose_aspect,
-                   cv::INTER_NEAREST);
-        seamImage.convertTo(imagesWarpedF_seam[i], CV_32F);
-        seamMask.copyTo(masksWarpedU_seam[i]);
-        corners_seam[i] = cv::Point(
-            cvRound(corners[i].x * seam_compose_aspect),
-            cvRound(corners[i].y * seam_compose_aspect));
-      }
-      os_log_with_type(StitcherDiagLog(), OS_LOG_TYPE_FAULT,
-             "[V16-stitch-mem] BEFORE GraphCutSeamFinder seam_scale=%.3f phys=%.1fMB",
-             seam_scale, StitcherResidentMB());
-      cv::Ptr<cv::detail::SeamFinder> seamFinder =
-          cv::makePtr<cv::detail::GraphCutSeamFinder>(
-              cv::detail::GraphCutSeamFinder::COST_COLOR);
-      seamFinder->find(imagesWarpedF_seam, corners_seam, masksWarpedU_seam);
-      os_log_with_type(StitcherDiagLog(), OS_LOG_TYPE_FAULT,
-             "[V16-stitch-mem] AFTER GraphCutSeamFinder phys=%.1fMB",
-             StitcherResidentMB());
-      imagesWarpedF_seam.clear();
-      for (size_t i = 0; i < M; i++) {
-        cv::Mat seamMaskCpu, seamMaskDilated, seamMaskFull;
-        masksWarpedU_seam[i].copyTo(seamMaskCpu);
-        cv::dilate(seamMaskCpu, seamMaskDilated, cv::Mat());
-        cv::resize(seamMaskDilated, seamMaskFull,
-                   masksWarped[i].size(), 0, 0, cv::INTER_LINEAR);
-        cv::bitwise_and(seamMaskFull, masksWarped[i], masksWarped[i]);
-      }
-      masksWarpedU_seam.clear();
-
-      blender->prepare(corners, sizes);
-      os_log_with_type(StitcherDiagLog(), OS_LOG_TYPE_FAULT,
-             "[V16-stitch-mem] AFTER blender->prepare() phys=%.1fMB",
-             StitcherResidentMB());
-      for (size_t i = 0; i < M; i++) {
-        cv::Mat imgS;
-        imagesWarped[i].convertTo(imgS, CV_16S);
-        blender->feed(imgS, masksWarped[i], corners[i]);
-        imagesWarped[i].release();
-        masksWarped[i].release();
-        imgS.release();
-      }
-      imagesWarped.clear();
-      masksWarped.clear();
-      os_log_with_type(StitcherDiagLog(), OS_LOG_TYPE_FAULT,
-             "[V16-stitch-mem] AFTER blender->feed() loop (graphcut) phys=%.1fMB",
-             StitcherResidentMB());
-    } else {
-      // STREAM path
-      const size_t M = composeFrames.size();
-      std::vector<cv::Point> corners(M);
-      std::vector<cv::Size> sizes(M);
-      for (size_t i = 0; i < M; i++) {
-        cv::Mat K;
-        cameras[i].K().convertTo(K, CV_32F);
-        cv::Mat mask(composeFrames[i].size(), CV_8U, cv::Scalar(255));
-        cv::Mat tmpMaskWarped;
-        corners[i] = warper->warp(
-            mask, K, cameras[i].R, cv::INTER_NEAREST,
-            cv::BORDER_CONSTANT, tmpMaskWarped);
-        sizes[i] = tmpMaskWarped.size();
-      }
-      blender->prepare(corners, sizes);
-      for (size_t i = 0; i < M; i++) {
-        cv::Mat K;
-        cameras[i].K().convertTo(K, CV_32F);
-        cv::Mat mask(composeFrames[i].size(), CV_8U, cv::Scalar(255));
-        cv::Mat imgWarped, maskWarped;
-        warper->warp(composeFrames[i], K, cameras[i].R,
-                     cv::INTER_LINEAR, cv::BORDER_CONSTANT, imgWarped);
-        warper->warp(mask, K, cameras[i].R, cv::INTER_NEAREST,
-                     cv::BORDER_CONSTANT, maskWarped);
-        cv::Mat imgS;
-        imgWarped.convertTo(imgS, CV_16S);
-        blender->feed(imgS, maskWarped, corners[i]);
-        composeFrames[i].release();
-      }
-      composeFrames.clear();
-    }
+  return @{
+    @"x":           @((NSInteger)r.x),
+    @"y":           @((NSInteger)r.y),
+    @"width":       @((NSInteger)r.width),
+    @"height":      @((NSInteger)r.height),
+    @"imageWidth":  @((NSInteger)img.cols),
+    @"imageHeight": @((NSInteger)img.rows),
+  };
+}
 
-    os_log_with_type(StitcherDiagLog(), OS_LOG_TYPE_FAULT,
-           "[V16-stitch-mem] BEFORE blender->blend() phys=%.1fMB",
-           StitcherResidentMB());
-    cv::Mat panoramaS, panoramaMask;
-    blender->blend(panoramaS, panoramaMask);
-    os_log_with_type(StitcherDiagLog(), OS_LOG_TYPE_FAULT,
-           "[V16-stitch-mem] AFTER blender->blend() panorama=%dx%d phys=%.1fMB",
-           panoramaS.cols, panoramaS.rows, StitcherResidentMB());
-    panoramaS.convertTo(panorama, CV_8U);
-    os_log_with_type(StitcherDiagLog(), OS_LOG_TYPE_FAULT,
-           "[V16-stitch-mem] AFTER 16S->8U convert phys=%.1fMB",
-           StitcherResidentMB());
-  } catch (const cv::Exception &e) {
-    os_log_with_type(StitcherDiagLog(), OS_LOG_TYPE_FAULT,
-           "[V16-stitch-mem] cv::Exception: %{public}s phys=%.1fMB",
-           e.what(), StitcherResidentMB());
-    if (error) {
-      *error = [NSError errorWithDomain:RNImageStitcherErrorDomain
-                                   code:1100
-                               userInfo:@{
-        NSLocalizedDescriptionKey:
-          [NSString stringWithFormat:
-            @"OpenCV exception during keyframe stitch: %s", e.what()],
-      }];
-    }
-    return nil;
-  } catch (...) {
++ (NSDictionary<NSString *, NSNumber *> *)cropToRectAtPath:(NSString *)imagePath
+                                                        x:(NSInteger)x
+                                                        y:(NSInteger)y
+                                                    width:(NSInteger)width
+                                                   height:(NSInteger)height
+                                                  quality:(NSInteger)quality
+                                                    error:(NSError **)error {
+  NSString *cleaned = normalizeImagePath(imagePath);
+  if (![[NSFileManager defaultManager] fileExistsAtPath:cleaned]) {
     if (error) {
       *error = [NSError errorWithDomain:RNImageStitcherErrorDomain
-                                   code:1102
+                                   code:1020
                                userInfo:@{
         NSLocalizedDescriptionKey:
-          @"Unknown exception during keyframe stitch.",
+          [NSString stringWithFormat:@"Image not found: %@", imagePath],
       }];
     }
     return nil;
   }
-  }  // end @autoreleasepool
 
-  if (panorama.empty()) {
+  std::string nativePath(cleaned.UTF8String);
+  cv::Mat img = cv::imread(nativePath, cv::IMREAD_COLOR);
+  if (img.empty()) {
     if (error) {
       *error = [NSError errorWithDomain:RNImageStitcherErrorDomain
-                                   code:1003
+                                   code:1021
                                userInfo:@{
         NSLocalizedDescriptionKey:
-          @"Keyframe stitch produced an empty panorama.",
+          [NSString stringWithFormat:@"Could not decode image at %@", imagePath],
       }];
     }
     return nil;
   }
 
-  // Crop to bounding box.
-  cv::Mat finalImage = panorama;
-  try {
-    cv::Mat gray;
-    cv::cvtColor(panorama, gray, cv::COLOR_BGR2GRAY);
-    cv::Mat mask;
-    cv::threshold(gray, mask, 1, 255, cv::THRESH_BINARY);
-    cv::Rect bbox = cv::boundingRect(mask);
-    if (bbox.width > 0 && bbox.height > 0
-        && bbox.width <= panorama.cols && bbox.height <= panorama.rows) {
-      finalImage = panorama(bbox).clone();
-    }
-  } catch (...) {
-    finalImage = panorama;
-  }
-  os_log_with_type(StitcherDiagLog(), OS_LOG_TYPE_FAULT,
-         "[V16-stitch-mem] AFTER crop final=%dx%d phys=%.1fMB",
-         finalImage.cols, finalImage.rows, StitcherResidentMB());
-
-  auto t1 = std::chrono::steady_clock::now();
-  double durationMs =
-      std::chrono::duration_cast<std::chrono::milliseconds>(t1 - t0).count();
-
-  NSInteger clampedQuality = MAX(0, MIN(100, quality));
-  std::vector<int> params = {
-      cv::IMWRITE_JPEG_QUALITY, static_cast<int>(clampedQuality),
-  };
-  NSString *cleanedOutPath = ([outputPath hasPrefix:@"file://"]
-      ? [outputPath substringFromIndex:[@"file://" length]]
-      : outputPath);
-  bool wrote = cv::imwrite([cleanedOutPath UTF8String], finalImage, params);
-  os_log_with_type(StitcherDiagLog(), OS_LOG_TYPE_FAULT,
-         "[V16-stitch-mem] AFTER cv::imwrite ok=%d total=%.0fms phys=%.1fMB",
-         wrote ? 1 : 0, durationMs, StitcherResidentMB());
-
-  if (!wrote) {
+  // Clamp the requested rect to the image bounds (defensive — the JS
+  // side derives it from computeInscribedRect, but never trust input).
+  int rx = (int)x; if (rx < 0) { rx = 0; }
+  int ry = (int)y; if (ry < 0) { ry = 0; }
+  if (rx > img.cols - 1) { rx = img.cols - 1; }
+  if (ry > img.rows - 1) { ry = img.rows - 1; }
+  int rw = (int)width; if (rw < 1) { rw = 1; }
+  int rh = (int)height; if (rh < 1) { rh = 1; }
+  if (rx + rw > img.cols) { rw = img.cols - rx; }
+  if (ry + rh > img.rows) { rh = img.rows - ry; }
+
+  cv::Mat cropped = img(cv::Rect(rx, ry, rw, rh)).clone();
+
+  int q = (int)quality;
+  if (q < 1) { q = 1; }
+  if (q > 100) { q = 100; }
+  std::vector<int> writeParams = { cv::IMWRITE_JPEG_QUALITY, q };
+  bool ok = cv::imwrite(nativePath, cropped, writeParams);
+  if (!ok) {
     if (error) {
       *error = [NSError errorWithDomain:RNImageStitcherErrorDomain
-                                   code:1002
+                                   code:1022
                                userInfo:@{
         NSLocalizedDescriptionKey:
-          [NSString stringWithFormat:
-            @"Keyframe stitch succeeded but could not write JPEG to %@",
-            outputPath],
+          [NSString stringWithFormat:@"Could not rewrite image at %@", imagePath],
       }];
     }
     return nil;
   }
 
-  return [[RNStitchResult alloc]
-      initWithOutputPath:outputPath
-                   width:(NSInteger)finalImage.cols
-                  height:(NSInteger)finalImage.rows
-              durationMs:durationMs];
+  return @{
+    @"width":  @((NSInteger)cropped.cols),
+    @"height": @((NSInteger)cropped.rows),
+  };
 }
 
-
-// ─────────────────────────────────────────────────────────────────────
-// Photo orientation normalisation
-// ─────────────────────────────────────────────────────────────────────
-// Round-trip through cv::imread / cv::imwrite to bake the EXIF
-// rotation into the pixel buffer, then write a plain JPEG with no
-// orientation metadata.  Cheap (~ms for a typical iPhone JPEG) and
-// idempotent on already-normalised files.
-
-+ (NSDictionary<NSString *, NSNumber *> *)normaliseImageAtPath:(NSString *)imagePath
-                                                         error:(NSError **)error {
++ (NSDictionary *)debugMaskOverlayAtPath:(NSString *)imagePath
+                               threshold:(NSInteger)threshold
+                                   error:(NSError **)error {
   NSString *cleaned = normalizeImagePath(imagePath);
   if (![[NSFileManager defaultManager] fileExistsAtPath:cleaned]) {
     if (error) {
@@ -1867,26 +1093,59 @@ cv::detail::CameraParams cameraParamsFromPose(NSDictionary *pose) {
     return nil;
   }
 
-  std::vector<int> writeParams = {
-    cv::IMWRITE_JPEG_QUALITY, 92,
-  };
-  bool ok = cv::imwrite(nativePath, img, writeParams);
-  if (!ok) {
+  // Prefer the TRUE coverage sidecar (<path>.coverage.png) the stitch
+  // writes; else the hole-fill brightness proxy at threshold `t`.
+  NSString *coveragePath = [cleaned stringByAppendingString:@".coverage.png"];
+  cv::Mat mask;
+  if ([[NSFileManager defaultManager] fileExistsAtPath:coveragePath]) {
+    cv::Mat cov = cv::imread(std::string(coveragePath.UTF8String), cv::IMREAD_GRAYSCALE);
+    if (!cov.empty() && cov.cols == img.cols && cov.rows == img.rows) {
+      cv::threshold(cov, mask, 0, 255, cv::THRESH_BINARY);
+    }
+  }
+  if (mask.empty()) {
+    int t = (int)threshold;
+    if (t < 0) { t = 0; }
+    cv::Mat gray, raw;
+    cv::cvtColor(img, gray, cv::COLOR_BGR2GRAY);
+    cv::threshold(gray, raw, t, 255, cv::THRESH_BINARY);
+    mask = FillBorderConnectedHoles(raw);
+  }
+  cv::Mat excluded;
+  cv::bitwise_not(mask, excluded);                        // 255 = dropped pixels
+
+  // Blend red (BGR 0,0,255) over the dropped pixels so they stand out.
+  cv::Mat overlay = img.clone();
+  cv::Mat red(img.size(), img.type(), cv::Scalar(0, 0, 255));
+  cv::Mat blended;
+  cv::addWeighted(img, 0.35, red, 0.65, 0.0, blended);
+  blended.copyTo(overlay, excluded);
+
+  std::string outPath = std::string(cleaned.UTF8String) + ".mask.jpg";
+  std::vector<int> writeParams = { cv::IMWRITE_JPEG_QUALITY, 90 };
+  if (!cv::imwrite(outPath, overlay, writeParams)) {
     if (error) {
       *error = [NSError errorWithDomain:RNImageStitcherErrorDomain
                                    code:1022
                                userInfo:@{
         NSLocalizedDescriptionKey:
-          [NSString stringWithFormat:
-            @"Could not rewrite image at %@", imagePath],
+          [NSString stringWithFormat:@"Could not write mask overlay for %@", imagePath],
       }];
     }
     return nil;
   }
 
+  long total = (long)mask.rows * (long)mask.cols;
+  long content = (long)cv::countNonZero(mask);
+  int excludedPct = (total > 0)
+    ? (int)((double)(total - content) * 100.0 / (double)total)
+    : 0;
+
   return @{
-    @"width":  @((NSInteger)img.cols),
-    @"height": @((NSInteger)img.rows),
+    @"maskPath":        [NSString stringWithUTF8String:outPath.c_str()],
+    @"width":           @((NSInteger)img.cols),
+    @"height":          @((NSInteger)img.rows),
+    @"excludedPercent": @((NSInteger)excludedPct),
   };
 }