poe2-bot/src/Poe2Trade.Navigation/MinimapCapture.cs

using OpenCvSharp;
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 readonly IScreenCapture _backend;
    private Mat? _circularMask;

    public MinimapCapture(MinimapConfig config)
    {
        _config = config;
        _backend = CreateBackend();
        BuildCircularMask();
    }

    private static IScreenCapture CreateBackend()
    {
        // WGC primary → DXGI fallback → GDI last resort
        try
        {
            var wgc = new WgcCapture();
            Log.Information("Screen capture: WGC (Windows Graphics Capture)");
            return wgc;
        }
        catch (Exception ex)
        {
            Log.Warning(ex, "WGC unavailable, trying DXGI Desktop Duplication");
        }

        try
        {
            var dxgi = new DesktopDuplication();
            Log.Information("Screen capture: DXGI Desktop Duplication");
            return dxgi;
        }
        catch (Exception ex)
        {
            Log.Warning(ex, "DXGI unavailable, falling back to GDI");
        }

        Log.Information("Screen capture: GDI (CopyFromScreen)");
        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;
        using var bgr = _backend.CaptureRegion(region);

        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
        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);
        // Don't count explored pixels as wall
        using var notExplored = new Mat();
        Cv2.BitwiseNot(exploredMask, notExplored);
        Cv2.BitwiseAnd(wallMask, notExplored, 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()
        );
    }

    /// <summary>
    /// Save debug images: raw capture, HSV mask, classified result.
    /// Call once to diagnose color ranges.
    /// </summary>
    public void SaveDebugCapture(string dir = "debug-minimap")
    {
        Directory.CreateDirectory(dir);
        var region = _config.CaptureRegion;
        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);

        using var exploredMask = new Mat();
        Cv2.InRange(hsv, _config.ExploredLoHSV, _config.ExploredHiHSV, exploredMask);

        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);

        // Save HSV channels separately for tuning
        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]);
        foreach (var c in channels) c.Dispose();

        Log.Information("Debug minimap images saved to {Dir}", Path.GetFullPath(dir));
    }

    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);
    }

    public void Dispose()
    {
        _circularMask?.Dispose();
        _backend.Dispose();
    }
}