work on pathing

src/Poe2Trade.Navigation/IconDetector.cs

@@ -0,0 +1,128 @@
+using OpenCvSharp;
+using Serilog;
+
+namespace Poe2Trade.Navigation;
+
+/// <summary>
+/// Detects minimap icons (doors, checkpoints) via template matching.
+/// Loads RGBA templates once, converts to grayscale for matching.
+/// </summary>
+internal class IconDetector : IDisposable
+{
+    private readonly Mat _doorTemplate;
+    private readonly Mat _checkpointOffTemplate;
+    private readonly Mat _checkpointOnTemplate;
+
+    private const double DoorThreshold = 0.65;
+    private const double CheckpointThreshold = 0.60;
+
+    public IconDetector(string assetsDir)
+    {
+        _doorTemplate = LoadGray(Path.Combine(assetsDir, "door.png"));
+        _checkpointOffTemplate = LoadGray(Path.Combine(assetsDir, "checkpoint-off.png"));
+        _checkpointOnTemplate = LoadGray(Path.Combine(assetsDir, "checkpoint-on.png"));
+
+        Log.Information("IconDetector loaded: door={DW}x{DH} cpOff={OW}x{OH} cpOn={NW}x{NH}",
+            _doorTemplate.Width, _doorTemplate.Height,
+            _checkpointOffTemplate.Width, _checkpointOffTemplate.Height,
+            _checkpointOnTemplate.Width, _checkpointOnTemplate.Height);
+    }
+
+    private static Mat LoadGray(string path)
+    {
+        var bgra = Cv2.ImRead(path, ImreadModes.Unchanged);
+        if (bgra.Empty())
+            throw new FileNotFoundException($"Icon template not found: {path}");
+
+        var gray = new Mat();
+        if (bgra.Channels() == 4)
+        {
+            using var bgr = new Mat();
+            Cv2.CvtColor(bgra, bgr, ColorConversionCodes.BGRA2BGR);
+            Cv2.CvtColor(bgr, gray, ColorConversionCodes.BGR2GRAY);
+        }
+        else if (bgra.Channels() == 3)
+        {
+            Cv2.CvtColor(bgra, gray, ColorConversionCodes.BGR2GRAY);
+        }
+        else
+        {
+            gray = bgra.Clone();
+        }
+
+        bgra.Dispose();
+        return gray;
+    }
+
+    /// <summary>
+    /// Detect all door icons in the frame. Returns center points in frame coords.
+    /// </summary>
+    public List<Point> DetectDoors(Mat grayFrame)
+        => Detect(grayFrame, _doorTemplate, DoorThreshold);
+
+    /// <summary>
+    /// Detect all inactive checkpoint icons. Returns center points in frame coords.
+    /// </summary>
+    public List<Point> DetectCheckpointsOff(Mat grayFrame)
+        => Detect(grayFrame, _checkpointOffTemplate, CheckpointThreshold);
+
+    /// <summary>
+    /// Detect all active checkpoint icons. Returns center points in frame coords.
+    /// </summary>
+    public List<Point> DetectCheckpointsOn(Mat grayFrame)
+        => Detect(grayFrame, _checkpointOnTemplate, CheckpointThreshold);
+
+    /// <summary>
+    /// Greedy multi-match: find best match, record center, zero out neighborhood, repeat.
+    /// </summary>
+    private static List<Point> Detect(Mat grayFrame, Mat template, double threshold)
+    {
+        var results = new List<Point>();
+
+        if (grayFrame.Width < template.Width || grayFrame.Height < template.Height)
+            return results;
+
+        using var result = new Mat();
+        Cv2.MatchTemplate(grayFrame, template, result, TemplateMatchModes.CCoeffNormed);
+
+        var tw = template.Width;
+        var th = template.Height;
+
+        while (true)
+        {
+            Cv2.MinMaxLoc(result, out _, out var maxVal, out _, out var maxLoc);
+            if (maxVal < threshold)
+                break;
+
+            // Record center point of the matched region
+            var centerX = maxLoc.X + tw / 2;
+            var centerY = maxLoc.Y + th / 2;
+            results.Add(new Point(centerX, centerY));
+
+            // Zero out neighborhood to prevent re-detection
+            var zeroX = Math.Max(0, maxLoc.X - tw / 2);
+            var zeroY = Math.Max(0, maxLoc.Y - th / 2);
+            var zeroW = Math.Min(tw * 2, result.Width - zeroX);
+            var zeroH = Math.Min(th * 2, result.Height - zeroY);
+            if (zeroW > 0 && zeroH > 0)
+            {
+                using var roi = new Mat(result, new Rect(zeroX, zeroY, zeroW, zeroH));
+                roi.SetTo(Scalar.Black);
+            }
+        }
+
+        return results;
+    }
+
+    /// <summary>
+    /// Get the template size for doors (used to stamp wall regions).
+    /// </summary>
+    public Size DoorSize => new(_doorTemplate.Width, _doorTemplate.Height);
+
+    public void Dispose()
+    {
+        _doorTemplate.Dispose();
+        _checkpointOffTemplate.Dispose();
+        _checkpointOnTemplate.Dispose();
+    }
+}