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

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;

    // Generation counter: prevents committing samples from a previous mode after Reset()
    private int _generation;
    private int _pendGeneration;

    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;
        _pendGeneration = _generation;

        // 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;
        if (_pendGeneration != _generation) return; // stale cross-mode samples

        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;
        _generation++;
    }
}