minimap working much better

src/Poe2Trade.Navigation/MinimapCapture.cs

@@ -9,7 +9,6 @@ public class MinimapCapture : IDisposable
 {
     private readonly MinimapConfig _config;
     private readonly IScreenCapture _backend;
-    private readonly Queue<Mat> _frameBuffer = new();
 
     public MinimapCapture(MinimapConfig config)
     {
@@ -68,28 +67,25 @@ public class MinimapCapture : IDisposable
         var playerOffset = FindCentroid(playerMask);
 
         // --- 3. Wall mask: bright OR saturated → structure lines ---
-        using var rawWallMask = BuildWallMask(satChan, valueChan, playerMask);
+        var wallMask = BuildWallMask(satChan, valueChan, playerMask);
 
-        // --- 4. Build classified mat (walls only — explored is tracked by WorldMap) ---
+        // --- 4. Build classified mat (walls only — for stitching) ---
         var classified = new Mat(_config.CaptureSize, _config.CaptureSize, MatType.CV_8UC1, Scalar.Black);
-        classified.SetTo(new Scalar((byte)MapCell.Wall), rawWallMask);
+        classified.SetTo(new Scalar((byte)MapCell.Wall), wallMask);
 
-        // --- 5. Temporal smoothing: majority vote on walls ---
-        var smoothed = TemporalSmooth(classified); // classified goes into ring buffer
+        // Raw walls used for everything: dedup, matching, and stitching.
+        // Temporal smoothing kills walls during movement (minimap scrolls between frames,
+        // 3/5 vote fails). The confidence system is the long-term noise filter instead.
 
-        // --- 6. Extract smoothed wall mask for tracking (filters transient noise) ---
-        var stableWallMask = new Mat();
-        Cv2.Compare(smoothed, new Scalar((byte)MapCell.Wall), stableWallMask, CmpType.EQ);
-
-        // --- 7. Gray for optical flow tracking (player zeroed) ---
+        // --- 5. Gray for optical flow tracking (player zeroed) ---
         var grayForCorr = new Mat();
         Cv2.CvtColor(bgr, grayForCorr, ColorConversionCodes.BGR2GRAY);
         grayForCorr.SetTo(Scalar.Black, playerMask);
 
         return new MinimapFrame(
             GrayMat: grayForCorr,
-            WallMask: stableWallMask,
-            ClassifiedMat: smoothed,
+            WallMask: wallMask,        // raw — for matching + dedup
+            ClassifiedMat: classified,  // raw — for stitching (confidence filters noise)
             PlayerOffset: playerOffset,
             Timestamp: DateTimeOffset.UtcNow.ToUnixTimeMilliseconds()
         );
@@ -157,38 +153,6 @@ public class MinimapCapture : IDisposable
         }
     }
 
-    private Mat TemporalSmooth(Mat classified)
-    {
-        // Add raw frame to ring buffer (takes ownership)
-        _frameBuffer.Enqueue(classified);
-        while (_frameBuffer.Count > _config.TemporalFrameCount)
-            _frameBuffer.Dequeue().Dispose();
-
-        // Not enough frames yet — return as-is
-        if (_frameBuffer.Count < 2)
-            return classified.Clone();
-
-        var size = classified.Size();
-        using var wallCount = new Mat(size, MatType.CV_8UC1, Scalar.Black);
-
-        foreach (var frame in _frameBuffer)
-        {
-            using var isWall = new Mat();
-            Cv2.Compare(frame, new Scalar((byte)MapCell.Wall), isWall, CmpType.EQ);
-            Cv2.Add(wallCount, new Scalar(1), wallCount, isWall);
-        }
-
-        // Apply vote threshold
-        using var wallPass = new Mat();
-        Cv2.Threshold(wallCount, wallPass,
-            _config.WallTemporalThreshold - 0.5, 255, ThresholdTypes.Binary);
-
-        var result = new Mat(size, MatType.CV_8UC1, Scalar.Black);
-        result.SetTo(new Scalar((byte)MapCell.Wall), wallPass);
-
-        return result;
-    }
-
     /// <summary>
     /// Capture a single frame and return the requested pipeline stage as PNG bytes.
     /// </summary>
@@ -294,7 +258,5 @@ public class MinimapCapture : IDisposable
     public void Dispose()
     {
         _backend.Dispose();
-        while (_frameBuffer.Count > 0)
-            _frameBuffer.Dequeue().Dispose();
     }
 }

src/Poe2Trade.Navigation/WorldMap.cs

@@ -173,35 +173,27 @@ public class WorldMap : IDisposable
         var confRoi = new Mat(_confidence, dstRect);
 
         var confInc = (short)_config.ConfidenceInc;
-        var confDec = (short)_config.ConfidenceDec;
         var confThreshold = (short)_config.ConfidenceThreshold;
         var confMax = (short)_config.ConfidenceMax;
 
+        // Only increment confidence for wall pixels. Don't decay on non-wall pixels because
+        // temporal smoothing (3/5 vote) kills walls during movement — the minimap scrolls so
+        // wall pixels shift across frames and fail the vote. "Not wall" in the smoothed mat
+        // during movement means "couldn't confirm" not "definitely not a wall".
         for (var row = 0; row < h; row++)
         for (var col = 0; col < w; col++)
         {
             var srcVal = srcRoi.At<byte>(row, col);
+            if (srcVal != (byte)MapCell.Wall) continue;
+
             var conf = confRoi.At<short>(row, col);
-
-            if (srcVal == (byte)MapCell.Wall)
-            {
-                if (boosted)
-                    conf = confMax; // warmup: max confidence so walls survive initial movement
-                else
-                    conf = Math.Min((short)(conf + confInc), confMax);
-            }
-            else
-            {
-                // Pixel is in visible area but not wall — decay confidence
-                conf = Math.Max((short)(conf - confDec), (short)0);
-            }
-
+            conf = boosted
+                ? confMax
+                : Math.Min((short)(conf + confInc), confMax);
             confRoi.Set(row, col, conf);
 
             if (conf >= confThreshold)
                 dstRoi.Set(row, col, (byte)MapCell.Wall);
-            else if (dstRoi.At<byte>(row, col) == (byte)MapCell.Wall)
-                dstRoi.Set(row, col, (byte)MapCell.Explored); // lost confidence, downgrade
         }
 
         // Mark explored area: circle around player, only overwrite Unknown