minimap work

src/Poe2Trade.Navigation/MinimapCapture.cs

@@ -1,7 +1,6 @@
 using OpenCvSharp;
 using Serilog;
 using Region = Poe2Trade.Core.Region;
-using Point = OpenCvSharp.Point;
 using Size = OpenCvSharp.Size;
 
 namespace Poe2Trade.Navigation;
@@ -10,13 +9,12 @@ public class MinimapCapture : IDisposable
 {
     private readonly MinimapConfig _config;
     private readonly IScreenCapture _backend;
-    private Mat? _circularMask;
+    private readonly Queue<Mat> _frameBuffer = new();
 
     public MinimapCapture(MinimapConfig config)
     {
         _config = config;
         _backend = CreateBackend();
-        BuildCircularMask();
     }
 
     private static IScreenCapture CreateBackend()
@@ -48,14 +46,6 @@ public class MinimapCapture : IDisposable
         return new GdiCapture();
     }
 
-    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;
@@ -64,63 +54,207 @@ public class MinimapCapture : IDisposable
         if (bgr == null || 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
+        // --- 1. HSV + extract S/V channels ---
         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
+        Cv2.CvtColor(bgr, hsv, ColorConversionCodes.BGR2HSV);
+        using var satChan = new Mat();
         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);
-        // Don't count explored pixels as wall
-        using var notExplored = new Mat();
-        Cv2.BitwiseNot(exploredMask, notExplored);
-        Cv2.BitwiseAnd(wallMask, notExplored, wallMask);
+        Cv2.ExtractChannel(hsv, satChan, 1);   // S
+        Cv2.ExtractChannel(hsv, valueChan, 2); // V
 
-        // 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)
+        // --- 2. Player mask (orange marker) ---
         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);
+        // --- 3. Wall mask: bright OR saturated → structure lines ---
+        using var wallMask = BuildWallMask(satChan, valueChan, playerMask);
+
+        // --- 4. Explored mask: brightness above fog-of-war, minus walls/player ---
+        using var exploredMask = BuildExploredMask(valueChan, wallMask, playerMask);
+
+        // --- 5. Build raw classified mat ---
+        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);
+
+        // --- 6. Temporal smoothing: majority vote ---
+        var smoothed = TemporalSmooth(classified); // classified goes into ring buffer
+
+        // --- 7. Gray for phase correlation (walls zeroed out — structural noise) ---
+        var grayForCorr = new Mat();
+        Cv2.CvtColor(bgr, grayForCorr, ColorConversionCodes.BGR2GRAY);
+        grayForCorr.SetTo(Scalar.Black, wallMask);
 
         return new MinimapFrame(
-            GrayMat: gray,
-            ClassifiedMat: classified,
+            GrayMat: grayForCorr,
+            ClassifiedMat: smoothed,
             PlayerOffset: playerOffset,
             Timestamp: DateTimeOffset.UtcNow.ToUnixTimeMilliseconds()
         );
     }
 
+    private Mat BuildWallMask(Mat satChan, Mat valueChan, Mat playerMask)
+    {
+        // Wall = bright OR saturated pixels (minimap structure lines, icons)
+        using var highV = new Mat();
+        Cv2.Threshold(valueChan, highV, _config.WallMinValue, 255, ThresholdTypes.Binary);
+        using var highS = new Mat();
+        Cv2.Threshold(satChan, highS, _config.WallMinSat, 255, ThresholdTypes.Binary);
+
+        var wallMask = new Mat();
+        Cv2.BitwiseOr(highV, highS, wallMask);
+
+        // Dilate to connect wall line fragments
+        using var kernel = Cv2.GetStructuringElement(MorphShapes.Ellipse, new Size(3, 3));
+        Cv2.Dilate(wallMask, wallMask, kernel);
+
+        // Subtract player (bright/saturated marker would otherwise be classified as wall)
+        using var notPlayer = new Mat();
+        Cv2.BitwiseNot(playerMask, notPlayer);
+        Cv2.BitwiseAnd(wallMask, notPlayer, wallMask);
+
+        FilterSmallComponents(wallMask, _config.WallMinArea);
+        return wallMask;
+    }
+
+    private Mat BuildExploredMask(Mat valueChan, Mat wallMask, Mat playerMask)
+    {
+        // Explored = any pixel above fog-of-war darkness, minus walls and player
+        var exploredMask = new Mat();
+        Cv2.Threshold(valueChan, exploredMask, _config.FloorMinValue, 255, ThresholdTypes.Binary);
+
+        using var notWall = new Mat();
+        Cv2.BitwiseNot(wallMask, notWall);
+        Cv2.BitwiseAnd(exploredMask, notWall, exploredMask);
+
+        using var notPlayer = new Mat();
+        Cv2.BitwiseNot(playerMask, notPlayer);
+        Cv2.BitwiseAnd(exploredMask, notPlayer, exploredMask);
+
+        return exploredMask;
+    }
+
+    private static void FilterSmallComponents(Mat mask, int minArea)
+    {
+        if (minArea <= 0) return;
+
+        using var labels = new Mat();
+        using var stats = new Mat();
+        using var centroids = new Mat();
+        var numLabels = Cv2.ConnectedComponentsWithStats(mask, labels, stats, centroids);
+
+        if (numLabels <= 1) return; // only background
+
+        // Clear mask, then re-add only components meeting min area
+        mask.SetTo(Scalar.Black);
+        for (var i = 1; i < numLabels; i++)
+        {
+            var area = stats.At<int>(i, 4); // CC_STAT_AREA
+            if (area < minArea) continue;
+
+            using var comp = new Mat();
+            Cv2.Compare(labels, new Scalar(i), comp, CmpType.EQ);
+            mask.SetTo(new Scalar(255), comp);
+        }
+    }
+
+    private Mat TemporalSmooth(Mat classified)
+    {
+        // Add raw frame to ring buffer (takes ownership)
+        _frameBuffer.Enqueue(classified);
+        while (_frameBuffer.Count > _config.TemporalFrameCount)
+            _frameBuffer.Dequeue().Dispose();
+
+        // Not enough frames yet — return as-is
+        if (_frameBuffer.Count < 2)
+            return classified.Clone();
+
+        var size = classified.Size();
+        using var wallCount = new Mat(size, MatType.CV_8UC1, Scalar.Black);
+        using var exploredCount = new Mat(size, MatType.CV_8UC1, Scalar.Black);
+
+        foreach (var frame in _frameBuffer)
+        {
+            using var isWall = new Mat();
+            Cv2.Compare(frame, new Scalar((byte)MapCell.Wall), isWall, CmpType.EQ);
+            Cv2.Add(wallCount, new Scalar(1), wallCount, isWall);
+
+            using var isExplored = new Mat();
+            Cv2.Compare(frame, new Scalar((byte)MapCell.Explored), isExplored, CmpType.EQ);
+            Cv2.Add(exploredCount, new Scalar(1), exploredCount, isExplored);
+        }
+
+        // Apply vote thresholds
+        using var wallPass = new Mat();
+        Cv2.Threshold(wallCount, wallPass,
+            _config.WallTemporalThreshold - 0.5, 255, ThresholdTypes.Binary);
+        using var exploredPass = new Mat();
+        Cv2.Threshold(exploredCount, exploredPass,
+            _config.ExploredTemporalThreshold - 0.5, 255, ThresholdTypes.Binary);
+
+        // Build smoothed result (explored wins over wall)
+        var result = new Mat(size, MatType.CV_8UC1, Scalar.Black);
+        result.SetTo(new Scalar((byte)MapCell.Wall), wallPass);
+        result.SetTo(new Scalar((byte)MapCell.Explored), exploredPass);
+
+        return result;
+    }
+
     /// <summary>
-    /// Save debug images: raw capture, HSV mask, classified result.
-    /// Call once to diagnose color ranges.
+    /// Capture a single frame and return the requested pipeline stage as PNG bytes.
+    /// </summary>
+    public byte[]? CaptureStage(MinimapDebugStage stage)
+    {
+        var region = _config.CaptureRegion;
+        using var bgr = _backend.CaptureRegion(region);
+        if (bgr == null || bgr.Empty()) return null;
+
+        if (stage == MinimapDebugStage.Raw) return EncodePng(bgr);
+
+        using var hsv = new Mat();
+        Cv2.CvtColor(bgr, hsv, ColorConversionCodes.BGR2HSV);
+
+        if (stage is MinimapDebugStage.Hue or MinimapDebugStage.Saturation or MinimapDebugStage.Value)
+        {
+            var channels = Cv2.Split(hsv);
+            var idx = stage switch { MinimapDebugStage.Hue => 0, MinimapDebugStage.Saturation => 1, _ => 2 };
+            var result = EncodePng(channels[idx]);
+            foreach (var c in channels) c.Dispose();
+            return result;
+        }
+
+        using var satChan = new Mat();
+        using var valueChan = new Mat();
+        Cv2.ExtractChannel(hsv, satChan, 1);
+        Cv2.ExtractChannel(hsv, valueChan, 2);
+
+        using var playerMask = new Mat();
+        Cv2.InRange(hsv, _config.PlayerLoHSV, _config.PlayerHiHSV, playerMask);
+        if (stage == MinimapDebugStage.Player) return EncodePng(playerMask);
+
+        using var wallMask = BuildWallMask(satChan, valueChan, playerMask);
+        if (stage == MinimapDebugStage.Walls) return EncodePng(wallMask);
+
+        using var exploredMask = BuildExploredMask(valueChan, wallMask, playerMask);
+        if (stage == MinimapDebugStage.Explored) return EncodePng(exploredMask);
+
+        // Classified
+        using var classified = new Mat(_config.CaptureSize, _config.CaptureSize, MatType.CV_8UC3, Scalar.Black);
+        classified.SetTo(new Scalar(104, 64, 31), exploredMask);
+        classified.SetTo(new Scalar(26, 45, 61), wallMask);
+        classified.SetTo(new Scalar(0, 165, 255), playerMask);
+        return EncodePng(classified);
+    }
+
+    private static byte[] EncodePng(Mat mat)
+    {
+        Cv2.ImEncode(".png", mat, out var buf);
+        return buf;
+    }
+
+    /// <summary>
+    /// Save debug images for tuning thresholds.
     /// </summary>
     public void SaveDebugCapture(string dir = "debug-minimap")
     {
@@ -129,29 +263,37 @@ public class MinimapCapture : IDisposable
         using var bgr = _backend.CaptureRegion(region);
         if (bgr == null || bgr.Empty()) return;
 
-        using var masked = new Mat();
-        Cv2.BitwiseAnd(bgr, bgr, masked, _circularMask!);
-
         using var hsv = new Mat();
-        Cv2.CvtColor(masked, hsv, ColorConversionCodes.BGR2HSV);
+        Cv2.CvtColor(bgr, hsv, ColorConversionCodes.BGR2HSV);
 
-        using var exploredMask = new Mat();
-        Cv2.InRange(hsv, _config.ExploredLoHSV, _config.ExploredHiHSV, exploredMask);
+        using var satChan = new Mat();
+        using var valueChan = new Mat();
+        Cv2.ExtractChannel(hsv, satChan, 1);
+        Cv2.ExtractChannel(hsv, valueChan, 2);
 
         using var playerMask = new Mat();
         Cv2.InRange(hsv, _config.PlayerLoHSV, _config.PlayerHiHSV, playerMask);
 
-        // Save raw, masked, explored filter, player filter
-        Cv2.ImWrite(Path.Combine(dir, "1-raw.png"), bgr);
-        Cv2.ImWrite(Path.Combine(dir, "2-masked.png"), masked);
-        Cv2.ImWrite(Path.Combine(dir, "3-explored.png"), exploredMask);
-        Cv2.ImWrite(Path.Combine(dir, "4-player.png"), playerMask);
+        using var wallMask = BuildWallMask(satChan, valueChan, playerMask);
+        using var exploredMask = BuildExploredMask(valueChan, wallMask, playerMask);
 
-        // Save HSV channels separately for tuning
+        // Colorized classified
+        using var classified = new Mat(_config.CaptureSize, _config.CaptureSize, MatType.CV_8UC3, Scalar.Black);
+        classified.SetTo(new Scalar(104, 64, 31), exploredMask);   // blue
+        classified.SetTo(new Scalar(26, 45, 61), wallMask);         // brown
+        classified.SetTo(new Scalar(0, 165, 255), playerMask);      // orange
+
+        Cv2.ImWrite(Path.Combine(dir, "01-raw.png"), bgr);
+        Cv2.ImWrite(Path.Combine(dir, "02-walls.png"), wallMask);
+        Cv2.ImWrite(Path.Combine(dir, "03-explored.png"), exploredMask);
+        Cv2.ImWrite(Path.Combine(dir, "04-player.png"), playerMask);
+        Cv2.ImWrite(Path.Combine(dir, "05-classified.png"), classified);
+
+        // HSV channels
         var channels = Cv2.Split(hsv);
-        Cv2.ImWrite(Path.Combine(dir, "5-hue.png"), channels[0]);
-        Cv2.ImWrite(Path.Combine(dir, "6-sat.png"), channels[1]);
-        Cv2.ImWrite(Path.Combine(dir, "7-val.png"), channels[2]);
+        Cv2.ImWrite(Path.Combine(dir, "06-hue.png"), channels[0]);
+        Cv2.ImWrite(Path.Combine(dir, "07-sat.png"), channels[1]);
+        Cv2.ImWrite(Path.Combine(dir, "08-val.png"), channels[2]);
         foreach (var c in channels) c.Dispose();
 
         Log.Information("Debug minimap images saved to {Dir}", Path.GetFullPath(dir));
@@ -170,7 +312,8 @@ public class MinimapCapture : IDisposable
 
     public void Dispose()
     {
-        _circularMask?.Dispose();
         _backend.Dispose();
+        while (_frameBuffer.Count > 0)
+            _frameBuffer.Dequeue().Dispose();
     }
 }

src/Poe2Trade.Navigation/NavigationExecutor.cs

@@ -58,61 +58,70 @@ public class NavigationExecutor : IDisposable
         await _game.ToggleMinimap();
         await Helpers.Sleep(300);
 
+        var lastMoveTime = long.MinValue;
+
         while (!_stopped)
         {
+            var frameStart = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
+
             try
             {
-                // 1. Capture frame
+                // 1. Capture + track every frame (~30 fps)
                 SetState(NavigationState.Capturing);
                 using var frame = _capture.CaptureFrame();
                 if (frame == null)
                 {
                     Log.Warning("Failed to capture minimap frame");
-                    await Helpers.Sleep(200);
+                    await Helpers.Sleep(_config.CaptureIntervalMs);
                     continue;
                 }
 
-                // 2. Track position via phase correlation
                 SetState(NavigationState.Processing);
                 var pos = _tracker.UpdatePosition(frame.GrayMat);
-
-                // 3. Stitch into world map
                 _worldMap.StitchFrame(frame.ClassifiedMat, pos);
 
-                // 4. Check if stuck
-                if (_tracker.IsStuck)
+                // 2. Movement decisions at slower rate
+                var now = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
+                if (now - lastMoveTime >= _config.MovementWaitMs)
                 {
-                    SetState(NavigationState.Stuck);
-                    Log.Information("Stuck detected, clicking random direction");
-                    await ClickRandomDirection();
-                    await Helpers.Sleep(_config.MovementWaitMs);
-                    continue;
+                    lastMoveTime = now;
+
+                    if (_tracker.IsStuck)
+                    {
+                        SetState(NavigationState.Stuck);
+                        Log.Information("Stuck detected, clicking random direction");
+                        await ClickRandomDirection();
+                    }
+                    else
+                    {
+                        SetState(NavigationState.Planning);
+                        var direction = _worldMap.FindNearestUnexplored(pos);
+
+                        if (direction == null)
+                        {
+                            Log.Information("Map fully explored");
+                            SetState(NavigationState.Completed);
+                            break;
+                        }
+
+                        SetState(NavigationState.Moving);
+                        await ClickToMove(direction.Value.dirX, direction.Value.dirY);
+                    }
                 }
-
-                // 5. Find best exploration direction
-                SetState(NavigationState.Planning);
-                var direction = _worldMap.FindNearestUnexplored(pos);
-
-                if (direction == null)
-                {
-                    Log.Information("Map fully explored");
-                    SetState(NavigationState.Completed);
-                    break;
-                }
-
-                // 6. Click to move in that direction
-                SetState(NavigationState.Moving);
-                await ClickToMove(direction.Value.dirX, direction.Value.dirY);
-
-                // 7. Wait for character to walk
-                await Helpers.Sleep(_config.MovementWaitMs);
             }
             catch (Exception ex)
             {
                 Log.Error(ex, "Error in explore loop");
                 SetState(NavigationState.Failed);
                 await Helpers.Sleep(1000);
+                continue;
             }
+
+            // Sleep remainder of frame interval
+            var elapsed = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds() - frameStart;
+            var sleepMs = _config.CaptureIntervalMs - (int)elapsed;
+            if (sleepMs > 0)
+                await Helpers.Sleep(sleepMs);
         }
 
         if (_state != NavigationState.Completed)
@@ -149,16 +158,20 @@ public class NavigationExecutor : IDisposable
 
     /// <summary>
     /// Capture one frame, track position, stitch into world map.
-    /// Returns viewport PNG bytes, or null on failure.
+    /// Returns PNG bytes for the requested debug stage (or world map viewport by default).
     /// </summary>
-    public byte[]? ProcessFrame()
+    public byte[]? ProcessFrame(MinimapDebugStage stage = MinimapDebugStage.WorldMap)
     {
         using var frame = _capture.CaptureFrame();
         if (frame == null) return null;
 
         var pos = _tracker.UpdatePosition(frame.GrayMat);
         _worldMap.StitchFrame(frame.ClassifiedMat, pos);
-        return _worldMap.GetViewportSnapshot(pos);
+
+        if (stage == MinimapDebugStage.WorldMap)
+            return _worldMap.GetViewportSnapshot(pos);
+
+        return _capture.CaptureStage(stage);
     }
 
     public void SaveDebugCapture() => _capture.SaveDebugCapture();

src/Poe2Trade.Navigation/NavigationTypes.cs

@@ -24,6 +24,19 @@ public enum MapCell : byte
     Wall = 2
 }
 
+public enum MinimapDebugStage
+{
+    WorldMap,
+    Raw,
+    Walls,
+    Explored,
+    Player,
+    Classified,
+    Hue,
+    Saturation,
+    Value
+}
+
 public record MinimapFrame(
     Mat GrayMat,
     Mat ClassifiedMat,
@@ -52,20 +65,27 @@ public class MinimapConfig
 
     public int CaptureSize { get; set; } = 300;
 
-    // Fog-of-war circle radius within the captured frame
-    public int FogRadius { get; set; } = 120;
-
-    // HSV range for explored areas (purple/violet minimap lines)
-    // OpenCV H: 0-180, purple ≈ 120-170
-    public Scalar ExploredLoHSV { get; set; } = new(120, 40, 40);
-    public Scalar ExploredHiHSV { get; set; } = new(170, 255, 255);
-
     // HSV range for player marker (orange X)
     public Scalar PlayerLoHSV { get; set; } = new(5, 80, 80);
     public Scalar PlayerHiHSV { get; set; } = new(25, 255, 255);
 
-    // HSV range for walls (dark pixels) — set very low to avoid game-world noise
-    public int WallMaxValue { get; set; } = 20;
+    // Wall detection: bright OR saturated pixels (minimap structure lines, icons)
+    public int WallMinValue { get; set; } = 200;
+    public int WallMinSat { get; set; } = 150;
+
+    // Floor detection: minimum V to distinguish explored floor from fog-of-war
+    public int FloorMinValue { get; set; } = 15;
+
+    // Connected components: minimum area to keep (kills speckle)
+    public int WallMinArea { get; set; } = 30;
+
+    // Temporal smoothing: majority vote over ring buffer
+    public int TemporalFrameCount { get; set; } = 5;
+    public int WallTemporalThreshold { get; set; } = 3;
+    public int ExploredTemporalThreshold { get; set; } = 2;
+
+    // Capture rate (~30 fps)
+    public int CaptureIntervalMs { get; set; } = 33;
 
     // Movement
     public int ClickRadius { get; set; } = 100;

src/Poe2Trade.Navigation/PositionTracker.cs

@@ -32,13 +32,23 @@ public class PositionTracker : IDisposable
             return Position;
         }
 
-        // Convert to float64 for phase correlation
+        // Convert to float64
         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);
+        // High-pass filter: removes slow lighting changes, keeps edges/structure
+        using var prevBlur = new Mat();
+        using var currBlur = new Mat();
+        Cv2.GaussianBlur(prev64, prevBlur, new OpenCvSharp.Size(21, 21), 0);
+        Cv2.GaussianBlur(curr64, currBlur, new OpenCvSharp.Size(21, 21), 0);
+        using var prevHp = new Mat();
+        using var currHp = new Mat();
+        Cv2.Subtract(prev64, prevBlur, prevHp);
+        Cv2.Subtract(curr64, currBlur, currHp);
+
+        var shift = Cv2.PhaseCorrelate(prevHp, currHp, _hanningWindow, out var confidence);
 
         if (confidence < _config.ConfidenceThreshold)
         {

src/Poe2Trade.Navigation/WorldMap.cs

@@ -63,7 +63,7 @@ public class WorldMap : IDisposable
         var bestAngle = double.NaN;
         var bestScore = 0;
         const int sectorCount = 16;
-        var fogRadius = _config.FogRadius;
+        var fogRadius = _config.CaptureSize / 2;
 
         for (var sector = 0; sector < sectorCount; sector++)
         {

src/Poe2Trade.Ui/ViewModels/MainWindowViewModel.cs

@@ -51,6 +51,9 @@ public partial class MainWindowViewModel : ObservableObject
     [ObservableProperty] private Bitmap? _inventoryImage;
     [ObservableProperty] private Bitmap? _minimapImage;
     [ObservableProperty] private string _navigationStateText = "";
+    [ObservableProperty] private MinimapDebugStage _selectedMinimapStage = MinimapDebugStage.WorldMap;
+
+    public static MinimapDebugStage[] MinimapStages { get; } = Enum.GetValues<MinimapDebugStage>();
 
     [ObservableProperty] private string _newUrl = "";
     [ObservableProperty] private string _newLinkName = "";
@@ -198,7 +201,7 @@ public partial class MainWindowViewModel : ObservableObject
                 f12WasDown = f12Down;
 
                 // Minimap capture + display
-                var bytes = _bot.Navigation.ProcessFrame();
+                var bytes = _bot.Navigation.ProcessFrame(SelectedMinimapStage);
                 if (bytes != null)
                 {
                     var bmp = new Bitmap(new MemoryStream(bytes));

src/Poe2Trade.Ui/Views/MainWindow.axaml

@@ -113,10 +113,15 @@
                             <DockPanel>
                                 <StackPanel DockPanel.Dock="Top" Orientation="Horizontal" Margin="0,0,0,4">
                                     <TextBlock Text="MINIMAP" FontSize="11" FontWeight="SemiBold"
-                                               Foreground="#8b949e" />
+                                               Foreground="#8b949e" VerticalAlignment="Center" />
                                     <TextBlock Text="{Binding NavigationStateText}"
-                                               FontSize="11" Foreground="#58a6ff" Margin="8,0,0,0" />
+                                               FontSize="11" Foreground="#58a6ff" Margin="8,0,0,0"
+                                               VerticalAlignment="Center" />
                                 </StackPanel>
+                                <ComboBox DockPanel.Dock="Top"
+                                          ItemsSource="{x:Static vm:MainWindowViewModel.MinimapStages}"
+                                          SelectedItem="{Binding SelectedMinimapStage}"
+                                          FontSize="11" Margin="0,0,0,4" />
                                 <Grid>
                                     <Image Source="{Binding MinimapImage}" Stretch="Uniform"
                                            RenderOptions.BitmapInterpolationMode="None" />