started adding navigation

src/Poe2Trade.Navigation/MinimapCapture.cs

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+using System.Drawing;
+using System.Drawing.Imaging;
+using System.Runtime.InteropServices;
+using OpenCvSharp;
+using OpenCvSharp.Extensions;
+using Serilog;
+using Region = Poe2Trade.Core.Region;
+using Point = OpenCvSharp.Point;
+using Size = OpenCvSharp.Size;
+
+namespace Poe2Trade.Navigation;
+
+public class MinimapCapture : IDisposable
+{
+    private readonly MinimapConfig _config;
+    private Mat? _circularMask;
+
+    [DllImport("user32.dll")]
+    private static extern int GetSystemMetrics(int nIndex);
+
+    public MinimapCapture(MinimapConfig config)
+    {
+        _config = config;
+        BuildCircularMask();
+    }
+
+    private void BuildCircularMask()
+    {
+        var size = _config.CaptureSize;
+        _circularMask = new Mat(size, size, MatType.CV_8UC1, Scalar.Black);
+        var center = new Point(size / 2, size / 2);
+        Cv2.Circle(_circularMask, center, _config.FogRadius, Scalar.White, -1);
+    }
+
+    public MinimapFrame? CaptureFrame()
+    {
+        var region = _config.CaptureRegion;
+        using var bitmap = CaptureScreen(region);
+        using var bgr = BitmapConverter.ToMat(bitmap);
+
+        if (bgr.Empty())
+            return null;
+
+        // Apply circular mask to ignore area outside fog-of-war circle
+        using var masked = new Mat();
+        Cv2.BitwiseAnd(bgr, bgr, masked, _circularMask!);
+
+        // Convert to HSV
+        using var hsv = new Mat();
+        Cv2.CvtColor(masked, hsv, ColorConversionCodes.BGR2HSV);
+
+        // Classify explored areas
+        using var exploredMask = new Mat();
+        Cv2.InRange(hsv, _config.ExploredLoHSV, _config.ExploredHiHSV, exploredMask);
+
+        // Classify walls: dark pixels within the circular mask
+        using var valueChan = new Mat();
+        Cv2.ExtractChannel(hsv, valueChan, 2); // V channel
+        using var darkMask = new Mat();
+        Cv2.Threshold(valueChan, darkMask, _config.WallMaxValue, 255, ThresholdTypes.BinaryInv);
+        // Apply morphological close to connect wall fragments
+        using var wallKernel = Cv2.GetStructuringElement(MorphShapes.Rect, new Size(3, 3));
+        using var wallMask = new Mat();
+        Cv2.MorphologyEx(darkMask, wallMask, MorphTypes.Close, wallKernel);
+        // Only within circular mask
+        Cv2.BitwiseAnd(wallMask, _circularMask!, wallMask);
+
+        // Build classified mat: Unknown=0, Explored=1, Wall=2
+        var classified = new Mat(_config.CaptureSize, _config.CaptureSize, MatType.CV_8UC1, Scalar.Black);
+        classified.SetTo(new Scalar((byte)MapCell.Explored), exploredMask);
+        classified.SetTo(new Scalar((byte)MapCell.Wall), wallMask);
+        // Ensure only within circular mask
+        Cv2.BitwiseAnd(classified, _circularMask!, classified);
+
+        // Detect player marker (orange X)
+        using var playerMask = new Mat();
+        Cv2.InRange(hsv, _config.PlayerLoHSV, _config.PlayerHiHSV, playerMask);
+        var playerOffset = FindCentroid(playerMask);
+
+        // Convert to grayscale for phase correlation
+        var gray = new Mat();
+        Cv2.CvtColor(masked, gray, ColorConversionCodes.BGR2GRAY);
+        // Apply circular mask to gray too
+        Cv2.BitwiseAnd(gray, _circularMask!, gray);
+
+        return new MinimapFrame(
+            GrayMat: gray,
+            ClassifiedMat: classified,
+            PlayerOffset: playerOffset,
+            Timestamp: DateTimeOffset.UtcNow.ToUnixTimeMilliseconds()
+        );
+    }
+
+    private Point2d FindCentroid(Mat mask)
+    {
+        var moments = Cv2.Moments(mask, true);
+        if (moments.M00 < 10) // not enough pixels
+            return new Point2d(0, 0);
+
+        var cx = moments.M10 / moments.M00 - _config.CaptureSize / 2.0;
+        var cy = moments.M01 / moments.M00 - _config.CaptureSize / 2.0;
+        return new Point2d(cx, cy);
+    }
+
+    private static Bitmap CaptureScreen(Region region)
+    {
+        var bitmap = new Bitmap(region.Width, region.Height, PixelFormat.Format32bppArgb);
+        using var g = Graphics.FromImage(bitmap);
+        g.CopyFromScreen(region.X, region.Y, 0, 0,
+            new System.Drawing.Size(region.Width, region.Height),
+            CopyPixelOperation.SourceCopy);
+        return bitmap;
+    }
+
+    public void Dispose()
+    {
+        _circularMask?.Dispose();
+    }
+}