work on color tracker

src/Poe2Trade.Navigation/MinimapCapture.cs

@@ -9,10 +9,12 @@ public class MinimapCapture : IDisposable
 {
     private readonly MinimapConfig _config;
     private readonly IScreenCapture _backend;
+    private readonly WallColorTracker _colorTracker;
 
     public MinimapCapture(MinimapConfig config)
     {
         _config = config;
+        _colorTracker = new WallColorTracker(config.WallLoHSV, config.WallHiHSV);
         _backend = CreateBackend();
     }
 
@@ -61,8 +63,8 @@ public class MinimapCapture : IDisposable
         Cv2.InRange(hsv, _config.PlayerLoHSV, _config.PlayerHiHSV, playerMask);
         var playerOffset = FindCentroid(playerMask);
 
-        // Wall mask: target #A2AEE5 blue-lavender structure lines
+        // Wall mask: target #A2AEE5 blue-lavender structure lines (range adapts per-map)
-        var wallMask = BuildWallMask(hsv, playerMask);
+        var wallMask = BuildWallMask(hsv, playerMask, sample: true);
 
         // Build classified mat (walls only — for stitching)
         var classified = new Mat(_config.CaptureSize, _config.CaptureSize, MatType.CV_8UC1, Scalar.Black);
@@ -82,18 +84,24 @@ public class MinimapCapture : IDisposable
         );
     }
 
-    private Mat BuildWallMask(Mat hsv, Mat playerMask)
+    private Mat BuildWallMask(Mat hsv, Mat playerMask, bool sample = false)
     {
-        // Target wall color #A2AEE5 — HSV(115, 75, 229)
+        // Use adapted range if available (narrows per-map), otherwise broad default
-        // This is map-independent: walls are always blue-lavender, fog is higher-saturation blue
+        var lo = _colorTracker.AdaptedLo ?? _config.WallLoHSV;
+        var hi = _colorTracker.AdaptedHi ?? _config.WallHiHSV;
+
         var wallMask = new Mat();
-        Cv2.InRange(hsv, _config.WallLoHSV, _config.WallHiHSV, wallMask);
+        Cv2.InRange(hsv, lo, hi, wallMask);
 
         // Subtract player marker (orange overlaps blue range slightly on some maps)
         using var notPlayer = new Mat();
         Cv2.BitwiseNot(playerMask, notPlayer);
         Cv2.BitwiseAnd(wallMask, notPlayer, wallMask);
 
+        // Sample from pure color-selected pixels BEFORE morphological ops
+        if (sample)
+            _colorTracker.SampleFrame(hsv, wallMask);
+
         // Dilate to connect thin wall line fragments
         using var kernel = Cv2.GetStructuringElement(MorphShapes.Ellipse, new Size(3, 3));
         Cv2.Dilate(wallMask, wallMask, kernel);
@@ -218,6 +226,12 @@ public class MinimapCapture : IDisposable
         return new Point2d(cx, cy);
     }
 
+    /// <summary>Commit pending wall color samples (call after successful template match).</summary>
+    public void CommitWallColors() => _colorTracker.Commit();
+
+    /// <summary>Reset adaptive color tracking (call on area change).</summary>
+    public void ResetAdaptation() => _colorTracker.Reset();
+
     public void Dispose()
     {
         _backend.Dispose();

src/Poe2Trade.Navigation/NavigationExecutor.cs

@@ -45,6 +45,7 @@ public class NavigationExecutor : IDisposable
     public void Reset()
     {
         _worldMap.Reset();
+        _capture.ResetAdaptation();
         _stopped = false;
         _stuckCounter = 0;
         _lastPosition = null;
@@ -81,6 +82,8 @@ public class NavigationExecutor : IDisposable
 
                 SetState(NavigationState.Processing);
                 var pos = _worldMap.MatchAndStitch(frame.ClassifiedMat, frame.WallMask);
+                if (_worldMap.LastMatchSucceeded)
+                    _capture.CommitWallColors();
 
                 // Stuck detection: position hasn't moved enough over several frames
                 if (_lastPosition != null)
@@ -186,6 +189,8 @@ public class NavigationExecutor : IDisposable
 
         var stitchStart = sw.Elapsed.TotalMilliseconds;
         var pos = _worldMap.MatchAndStitch(frame.ClassifiedMat, frame.WallMask);
+        if (_worldMap.LastMatchSucceeded)
+            _capture.CommitWallColors();
         var stitchMs = sw.Elapsed.TotalMilliseconds - stitchStart;
 
         var renderStart = sw.Elapsed.TotalMilliseconds;

src/Poe2Trade.Navigation/WallColorTracker.cs

@@ -0,0 +1,148 @@
+using OpenCvSharp;
+using Serilog;
+
+namespace Poe2Trade.Navigation;
+
+/// <summary>
+/// Tracks HSV distribution of confirmed wall pixels and computes an adaptive
+/// detection range that narrows per-map from the broad default.
+/// </summary>
+internal class WallColorTracker
+{
+    private readonly Scalar _defaultLo;
+    private readonly Scalar _defaultHi;
+
+    // Cumulative histograms (committed samples only)
+    private readonly long[] _hHist = new long[180];
+    private readonly long[] _sHist = new long[256];
+    private readonly long[] _vHist = new long[256];
+    private long _totalSamples;
+
+    // Pending samples from the latest frame (not yet committed)
+    private readonly int[] _pendH = new int[180];
+    private readonly int[] _pendS = new int[256];
+    private readonly int[] _pendV = new int[256];
+    private int _pendCount;
+
+    private const int MinSamples = 3000;
+    private const double LoPercentile = 0.05;
+    private const double HiPercentile = 0.95;
+    private const int HPad = 5;
+    private const int SPad = 15;
+    private const int VPad = 10;
+
+    public Scalar? AdaptedLo { get; private set; }
+    public Scalar? AdaptedHi { get; private set; }
+
+    public WallColorTracker(Scalar defaultLo, Scalar defaultHi)
+    {
+        _defaultLo = defaultLo;
+        _defaultHi = defaultHi;
+    }
+
+    /// <summary>
+    /// Sample wall pixel HSV values from the current frame into pending buffers.
+    /// Must be called with the pre-dilation wall mask (only pure color-selected pixels).
+    /// Does NOT commit — call <see cref="Commit"/> only after WorldMap confirms the match.
+    /// </summary>
+    public void SampleFrame(Mat hsv, Mat preDilationMask)
+    {
+        Array.Clear(_pendH);
+        Array.Clear(_pendS);
+        Array.Clear(_pendV);
+        _pendCount = 0;
+
+        // Downsample: every 4th pixel in each direction (~10K samples for 400x400)
+        for (var r = 0; r < hsv.Rows; r += 4)
+        for (var c = 0; c < hsv.Cols; c += 4)
+        {
+            if (preDilationMask.At<byte>(r, c) == 0) continue;
+            var px = hsv.At<Vec3b>(r, c);
+            _pendH[px.Item0]++;
+            _pendS[px.Item1]++;
+            _pendV[px.Item2]++;
+            _pendCount++;
+        }
+    }
+
+    /// <summary>
+    /// Commit pending samples into the cumulative histogram.
+    /// Call only after WorldMap confirms a successful template match.
+    /// </summary>
+    public void Commit()
+    {
+        if (_pendCount == 0) return;
+
+        for (var i = 0; i < 180; i++) _hHist[i] += _pendH[i];
+        for (var i = 0; i < 256; i++) _sHist[i] += _pendS[i];
+        for (var i = 0; i < 256; i++) _vHist[i] += _pendV[i];
+        _totalSamples += _pendCount;
+
+        if (_totalSamples >= MinSamples)
+            Recompute();
+    }
+
+    private void Recompute()
+    {
+        var hLo = Percentile(_hHist, 180, LoPercentile);
+        var hHi = Percentile(_hHist, 180, HiPercentile);
+        var sLo = Percentile(_sHist, 256, LoPercentile);
+        var sHi = Percentile(_sHist, 256, HiPercentile);
+        var vLo = Percentile(_vHist, 256, LoPercentile);
+        var vHi = Percentile(_vHist, 256, HiPercentile);
+
+        // Clamp to default bounds — adaptation can only narrow, never broaden
+        var newLo = new Scalar(
+            Math.Max(_defaultLo.Val0, hLo - HPad),
+            Math.Max(_defaultLo.Val1, sLo - SPad),
+            Math.Max(_defaultLo.Val2, vLo - VPad));
+        var newHi = new Scalar(
+            Math.Min(_defaultHi.Val0, hHi + HPad),
+            Math.Min(_defaultHi.Val1, sHi + SPad),
+            Math.Min(_defaultHi.Val2, vHi + VPad));
+
+        // Safety: if any channel inverted (lo > hi), fall back to default for that channel
+        if (newLo.Val0 > newHi.Val0) { newLo.Val0 = _defaultLo.Val0; newHi.Val0 = _defaultHi.Val0; }
+        if (newLo.Val1 > newHi.Val1) { newLo.Val1 = _defaultLo.Val1; newHi.Val1 = _defaultHi.Val1; }
+        if (newLo.Val2 > newHi.Val2) { newLo.Val2 = _defaultLo.Val2; newHi.Val2 = _defaultHi.Val2; }
+
+        // Only log when the range actually changes
+        if (AdaptedLo == null || AdaptedHi == null ||
+            AdaptedLo.Value.Val0 != newLo.Val0 || AdaptedLo.Value.Val1 != newLo.Val1 ||
+            AdaptedHi.Value.Val0 != newHi.Val0 || AdaptedHi.Value.Val1 != newHi.Val1)
+        {
+            Log.Information(
+                "Wall color adapted: H({HLo}-{HHi}) S({SLo}-{SHi}) V({VLo}-{VHi}) from {Samples} samples",
+                newLo.Val0, newHi.Val0, newLo.Val1, newHi.Val1, newLo.Val2, newHi.Val2, _totalSamples);
+        }
+
+        AdaptedLo = newLo;
+        AdaptedHi = newHi;
+    }
+
+    private int Percentile(long[] hist, int size, double p)
+    {
+        var target = (long)(_totalSamples * p);
+        long cum = 0;
+        for (var i = 0; i < size; i++)
+        {
+            cum += hist[i];
+            if (cum >= target) return i;
+        }
+        return size - 1;
+    }
+
+    public void Reset()
+    {
+        Array.Clear(_hHist);
+        Array.Clear(_sHist);
+        Array.Clear(_vHist);
+        _totalSamples = 0;
+        Array.Clear(_pendH);
+        Array.Clear(_pendS);
+        Array.Clear(_pendV);
+        _pendCount = 0;
+        AdaptedLo = null;
+        AdaptedHi = null;
+    }
+}

src/Poe2Trade.Navigation/WorldMap.cs

@@ -15,6 +15,7 @@ public class WorldMap : IDisposable
     private Mat? _prevWallMask; // for frame deduplication
 
     public MapPosition Position => _position;
+    public bool LastMatchSucceeded { get; private set; }
 
     public WorldMap(MinimapConfig config)
     {
@@ -94,12 +95,14 @@ public class WorldMap : IDisposable
         if (matched == null)
         {
             _consecutiveMatchFails++;
+            LastMatchSucceeded = false;
             Log.Information("MatchAndStitch: dedup={Dedup:F1}ms match={Match:F1}ms (FAILED x{Fails}) total={Total:F1}ms",
                 dedupMs, matchMs, _consecutiveMatchFails, sw.Elapsed.TotalMilliseconds);
             return _position; // don't stitch — wrong position would corrupt the canvas
         }
 
         _consecutiveMatchFails = 0;
+        LastMatchSucceeded = true;
         _position = matched;
         var stitchStart = sw.Elapsed.TotalMilliseconds;
         StitchWithConfidence(classifiedMat, _position, boosted: false);