Or were some form of digital scanners always in use?
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By using an enlarger. The enlarger projects the negative at the desired size onto a piece of light-sensitive paper. The dark areas on the negative (which are the areas of higher exposure) block the light from the enlarger lamp, and the light areas on the negative allow the light through, which develops that part of the photo paper. Then you simply place the paper in the developer bath for the desired amount of time and then the stop bath and the fixer, and the result is a positive photo print. Analog film is still developed this way.
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