What language/environment are you using? It shouldn't be that hard to write code that opens both the image and semacode as a bitmap (the latter as a monochrome), sets the lowest bit(s) of each byte of each pixel in the color image to the value of the corresponding pixel of the monochrome bitmap.
(optionally expand the semacode bitmap first to the same pixel-dimensions extending with white)
I imagine part of the robustness of a semacode to damage/dirt/obscuration is the high contrast between the two states of any "cell". The reader can still make a good guess as to the actual state, even with some distortion.
That sort of contrast is not available in a photographic image, and is the very reason why steganography works - the lsb bit-flipping has almost no visual effect on the image itself, while digital fidelity ensures that a non-visual system can still very accurately read the embedded data.
As the two applications are sort of at opposite ends of the analog/digital spectrum (semacodes are all about being decipherable by analog (visual) processing but are on paper, not digital; steganography is all about the bits in the file and cares nothing for the analog representation, whether light or sound or something else), I imagine a combination of the two will extremely difficult, if not impossible.
Essentially what you're thinking of is being able to steganographically embed something in an image, print the image, make a colour photocopy of it, scan it in, and still be able to extract the embedded data.
I'm afraid I can't help, but if anyone achieves this, I'll be DAMN impressed! :)
It's not a complete answer, but you should look at watermarking. This technique solves your first two goals (embedable in a printed image and readable even from partly damaged scan).
Part of watermarking's reliability to distortion and transcription errors (from going from digital to analog and back) come from redundancy (e.g. repeating the data several times). Those would make the watermark detectable even without a key. However, you might be able to use redundancy techniques that are more subtle, maybe something related to erasure coding or secret sharing.
I know that's not a complete answer, but hopefully those leads will point you in the right direction!