started adding navigation

src/Poe2Trade.Navigation/PositionTracker.cs

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+using OpenCvSharp;
+using Serilog;
+
+namespace Poe2Trade.Navigation;
+
+public class PositionTracker : IDisposable
+{
+    private readonly MinimapConfig _config;
+    private Mat? _prevGray;
+    private Mat? _hanningWindow;
+    private double _worldX;
+    private double _worldY;
+    private int _stuckCounter;
+
+    public MapPosition Position => new(_worldX, _worldY);
+    public bool IsStuck => _stuckCounter >= _config.StuckFrameCount;
+
+    public PositionTracker(MinimapConfig config)
+    {
+        _config = config;
+        _worldX = config.CanvasSize / 2.0;
+        _worldY = config.CanvasSize / 2.0;
+    }
+
+    public MapPosition UpdatePosition(Mat currentGray)
+    {
+        if (_prevGray == null || _hanningWindow == null)
+        {
+            _prevGray = currentGray.Clone();
+            _hanningWindow = new Mat();
+            Cv2.CreateHanningWindow(_hanningWindow, currentGray.Size(), MatType.CV_64F);
+            return Position;
+        }
+
+        // Convert to float64 for phase correlation
+        using var prev64 = new Mat();
+        using var curr64 = new Mat();
+        _prevGray.ConvertTo(prev64, MatType.CV_64F);
+        currentGray.ConvertTo(curr64, MatType.CV_64F);
+
+        var shift = Cv2.PhaseCorrelate(prev64, curr64, _hanningWindow, out var confidence);
+
+        if (confidence < _config.ConfidenceThreshold)
+        {
+            Log.Debug("Phase correlation low confidence: {Confidence:F3}", confidence);
+            _stuckCounter++;
+            _prevGray.Dispose();
+            _prevGray = currentGray.Clone();
+            return Position;
+        }
+
+        // Negate: minimap scrolls opposite to player movement
+        var dx = -shift.X;
+        var dy = -shift.Y;
+        var displacement = Math.Sqrt(dx * dx + dy * dy);
+
+        if (displacement < _config.StuckThreshold)
+        {
+            _stuckCounter++;
+        }
+        else
+        {
+            _stuckCounter = 0;
+            _worldX += dx;
+            _worldY += dy;
+        }
+
+        Log.Debug("Position: ({X:F1}, {Y:F1}) dx={Dx:F1} dy={Dy:F1} conf={Conf:F3} stuck={Stuck}",
+            _worldX, _worldY, dx, dy, confidence, _stuckCounter);
+
+        _prevGray.Dispose();
+        _prevGray = currentGray.Clone();
+        return Position;
+    }
+
+    public void Reset()
+    {
+        _prevGray?.Dispose();
+        _prevGray = null;
+        _hanningWindow?.Dispose();
+        _hanningWindow = null;
+        _worldX = _config.CanvasSize / 2.0;
+        _worldY = _config.CanvasSize / 2.0;
+        _stuckCounter = 0;
+        Log.Information("Position tracker reset");
+    }
+
+    public void Dispose()
+    {
+        _prevGray?.Dispose();
+        _hanningWindow?.Dispose();
+    }
+}