From a336138ee2ca803f7db31ddb3f635f19d2e03914 Mon Sep 17 00:00:00 2001
From: Boki <boki@stare.gg>
Date: Fri, 13 Feb 2026 14:42:35 -0500
Subject: [PATCH] test

---
 src/Poe2Trade.Bot/BotOrchestrator.cs          |  1 +
 .../NavigationExecutor.cs                     |  1 +
 src/Poe2Trade.Navigation/NavigationTypes.cs   |  6 ++---
 src/Poe2Trade.Navigation/WorldMap.cs          | 25 ++++++++++++++-----
 4 files changed, 24 insertions(+), 9 deletions(-)

diff --git a/src/Poe2Trade.Bot/BotOrchestrator.cs b/src/Poe2Trade.Bot/BotOrchestrator.cs
index 97f2734..9a0b831 100644
--- a/src/Poe2Trade.Bot/BotOrchestrator.cs
+++ b/src/Poe2Trade.Bot/BotOrchestrator.cs
@@ -61,6 +61,7 @@ public class BotOrchestrator : IAsyncDisposable
         TradeQueue = tradeQueue;
         Links = links;
         Navigation = new NavigationExecutor(game);
+        logWatcher.AreaEntered += _ => Navigation.Reset();
         _paused = store.Settings.Paused;
     }
 
diff --git a/src/Poe2Trade.Navigation/NavigationExecutor.cs b/src/Poe2Trade.Navigation/NavigationExecutor.cs
index 04ebf85..888a503 100644
--- a/src/Poe2Trade.Navigation/NavigationExecutor.cs
+++ b/src/Poe2Trade.Navigation/NavigationExecutor.cs
@@ -49,6 +49,7 @@ public class NavigationExecutor : IDisposable
         _stuckCounter = 0;
         _lastPosition = null;
         SetState(NavigationState.Idle);
+        Log.Information("Navigation reset (new area)");
     }
 
     public async Task RunExploreLoop()
diff --git a/src/Poe2Trade.Navigation/NavigationTypes.cs b/src/Poe2Trade.Navigation/NavigationTypes.cs
index 39b3bb3..f3a6dec 100644
--- a/src/Poe2Trade.Navigation/NavigationTypes.cs
+++ b/src/Poe2Trade.Navigation/NavigationTypes.cs
@@ -71,9 +71,9 @@ public class MinimapConfig
     public Scalar PlayerHiHSV { get; set; } = new(25, 255, 255);
 
     // Wall detection: target #A2AEE5 (blue-lavender structure lines)
-    // HSV(115, 75, 229) — blue hue, low saturation, bright
-    public Scalar WallLoHSV { get; set; } = new(100, 20, 150);
-    public Scalar WallHiHSV { get; set; } = new(130, 140, 255);
+    // HSV(115, 75, 229) — blue hue, low-medium saturation, bright
+    public Scalar WallLoHSV { get; set; } = new(100, 50, 190);
+    public Scalar WallHiHSV { get; set; } = new(130, 120, 255);
 
     // Connected components: minimum area to keep (kills speckle)
     public int WallMinArea { get; set; } = 30;
diff --git a/src/Poe2Trade.Navigation/WorldMap.cs b/src/Poe2Trade.Navigation/WorldMap.cs
index bd526f4..917776e 100644
--- a/src/Poe2Trade.Navigation/WorldMap.cs
+++ b/src/Poe2Trade.Navigation/WorldMap.cs
@@ -34,10 +34,14 @@ public class WorldMap : IDisposable
         _frameCount++;
 
         // Noise gate: skip frames with too many wall pixels (waypoint glow, effects)
+        // But NOT during warmup or re-bootstrap — we need to stitch something to get started
         var wallPixels = Cv2.CountNonZero(wallMask);
         var totalPixels = wallMask.Width * wallMask.Height;
         var density = (double)wallPixels / totalPixels;
-        if (density > _config.WallMaxDensity)
+        var isNoisy = density > _config.WallMaxDensity;
+        var needsBootstrap = _frameCount <= _config.WarmupFrames || _consecutiveMatchFails >= 30;
+
+        if (isNoisy && !needsBootstrap)
         {
             Log.Information("Noise gate: {Density:P1} wall density ({Pixels} px), skipping ({Ms:F1}ms)",
                 density, wallPixels, sw.Elapsed.TotalMilliseconds);
@@ -64,12 +68,21 @@ public class WorldMap : IDisposable
         _prevWallMask?.Dispose();
         _prevWallMask = wallMask.Clone();
 
-        // Warmup: stitch at center with boosted confidence to bootstrap canvas
-        if (_frameCount <= _config.WarmupFrames)
+        // Warmup / re-bootstrap: stitch at current position to seed the canvas
+        if (needsBootstrap)
         {
-            StitchWithConfidence(classifiedMat, _position, boosted: true);
-            Log.Information("Warmup frame {N}/{Total}: stitch={Ms:F1}ms",
-                _frameCount, _config.WarmupFrames, sw.Elapsed.TotalMilliseconds);
+            StitchWithConfidence(classifiedMat, _position, boosted: _frameCount <= _config.WarmupFrames);
+            if (_consecutiveMatchFails >= 30)
+            {
+                Log.Information("Re-bootstrap: stitching at current position after {Fails} match failures ({Ms:F1}ms)",
+                    _consecutiveMatchFails, sw.Elapsed.TotalMilliseconds);
+                _consecutiveMatchFails = 0;
+            }
+            else
+            {
+                Log.Information("Warmup frame {N}/{Total}: stitch={Ms:F1}ms",
+                    _frameCount, _config.WarmupFrames, sw.Elapsed.TotalMilliseconds);
+            }
             return _position;
         }