Ajustado scripts de treinamento e health worker

AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs

@@ -2496,40 +2496,64 @@ namespace AgroBase.Models
     public enum AutonomiaCorredorStatus
     {
         Desconhecido = 0,
-        OkCompleto,          // Bateria + herbicida suficientes pra entrar e pulverizar
-        OkSomenteTransito,   // Bateria ok, herbicida insuficiente pra pulverizar tudo
-        OkSupervisionado,    // Liberado manualmente
-        Critico              // Nem a bateria garante atravessar com segurança
+        OkCompleto,                // Bateria + herbicida suficientes pra entrar e pulverizar
+        OkSomenteTransito,         // Bateria ok, herbicida insuficiente pra pulverizar tudo (mas pode atravessar)
+        OkSupervisionado,          // Liberado manualmente MESMO com parâmetro não OK (override humano)
+        AguardandoLiberacaoManual, // Travado após ficar crítico por X segundos, só sai com liberação humana
+        Critico                    // Nem a bateria garante atravessar com segurança (ou herbicida mandatório insuficiente)
     }
 
     public class AutonomiaCorredorModel
     {
+        // ==========================
+        // Configurações
+        // ==========================
+        private readonly TimeSpan _tempoParaTravar = TimeSpan.FromSeconds(10); // X segundos em crítico -> trava
+
+        // ==========================
+        // Estado público
+        // ==========================
         [JsonProperty]
         public bool Iniciado { get; private set; }
+
         [JsonProperty]
-        public AutonomiaCorredorStatus Status { get; private set; }
-        private bool _liberado =>
-            Status == AutonomiaCorredorStatus.OkCompleto ||
-            Status == AutonomiaCorredorStatus.OkSomenteTransito ||
-            Status == AutonomiaCorredorStatus.OkSupervisionado;
+        public AutonomiaCorredorStatus Status { get; private set; } = AutonomiaCorredorStatus.Desconhecido;
+
         [JsonProperty]
-        public bool Liberado { get; private set; }
+        public bool Liberado { get; private set; } = true;
+
         [JsonProperty]
         public double DistanciaCorredor_m { get; private set; }
+
         [JsonProperty]
         public double DistanciaSeguraBateria_m { get; private set; }
+
         [JsonProperty]
         public double DistanciaSeguraHerbicida_m { get; private set; }
-        private Dictionary<int, AutonomiaCorredorModel> CorredoresLiberados { get; set; } = new Dictionary<int, AutonomiaCorredorModel>();
 
-        // Flags de conveniência
-        public bool BateriaSuficiente => DistanciaSeguraBateria_m >= DistanciaCorredor_m;
-        public bool HerbicidaSuficiente => DistanciaSeguraHerbicida_m >= DistanciaCorredor_m;
-
-        // Texto pra UI/log
         [JsonProperty]
         public string Motivo { get; private set; } = "";
 
+        // ==========================
+        // Flags de conveniência
+        // ==========================
+        public bool BateriaSuficiente => DistanciaSeguraBateria_m >= DistanciaCorredor_m;
+        public bool HerbicidaSuficiente => DistanciaSeguraHerbicida_m >= DistanciaCorredor_m;
+
+        // ==========================
+        // Controle de histórico por corredor
+        // ==========================
+        private Dictionary<int, AutonomiaCorredorModel> CorredoresLiberados { get; set; } = new Dictionary<int, AutonomiaCorredorModel>();
+
+        // ==========================
+        // Trava (latch) por corredor
+        // ==========================
+        private readonly HashSet<int> _corredoresTravados = new HashSet<int>();
+        private readonly Dictionary<int, DateTime> _inicioCriticoUtc = new Dictionary<int, DateTime>();
+
+        // ==========================
+        // Ciclo de vida
+        // ==========================
         public void Iniciar()
         {
             Iniciado = true;
@@ -2538,10 +2562,18 @@ namespace AgroBase.Models
         public void Parar()
         {
             Iniciado = false;
+            // opcional: não limpar travas aqui, pois pode querer manter estado até o operador decidir.
+            // se preferir limpar, descomente:
+            // _corredoresTravados.Clear();
+            // _inicioCriticoUtc.Clear();
         }
 
+        // ==========================
+        // Atualização principal
+        // ==========================
         public void AtualizarDados(int idxCorredor, bool bateria_liberada, bool reservatorio_liberado)
         {
+            // Se não iniciado, não bloqueia nada
             if (!Iniciado)
             {
                 Liberado = true;
@@ -2550,12 +2582,18 @@ namespace AgroBase.Models
                 return;
             }
 
+            // Valida índice do corredor
             if (Variaveis.OperacaoEmAndamento.Trajetoria?._Corredores?.Count <= idxCorredor)
                 return;
 
+            // Se já registrou esse corredor como liberado e travado/feito, não recalcula
             if (CorredoresLiberados.ContainsKey(idxCorredor) && CorredoresLiberados[idxCorredor].Liberado)
                 return;
 
+            // Atalho: interpretar que o operador “clicou em liberar” (pelo menos um sinal veio)
+            bool solicitouLiberacaoHumana = bateria_liberada || reservatorio_liberado;
+
+            // Carrega distâncias e contadores
             double distanciaCorredor = Variaveis.OperacaoEmAndamento.Trajetoria._Corredores[idxCorredor]?.DistanciaTotal ?? 0;
 
             var _Bateria = Variaveis.OperacaoEmAndamento.DispSen?.Dados?.ContadorCarga;
@@ -2567,41 +2605,157 @@ namespace AgroBase.Models
 
             bool bateriaOk = BateriaSuficiente && (_Bateria?.Iniciado ?? false);
             bool herbOk = HerbicidaSuficiente && (_Reservatorio?.Iniciado ?? false);
-            bool exigirPulverizacaoTotal = Variaveis.OperacaoEmAndamento.Parametros?.ModulosMandatorios?.Any(x => x.Dispositivo == T_Code.Atu && x.Mandatorio && x.Utilizar) ?? false;
 
-            List<AutonomiaCorredorStatus> status_mods = new List<AutonomiaCorredorStatus>();
-            string _motivo = "";
-            string _motivo_bat = "Bateria " + (bateriaOk ? "suficiente" : "insuficiente") + $". Distância segura: {DistanciaSeguraBateria_m:F1} m, corredor: {distanciaCorredor:F1} m";
-            string _motivo_herb = "Herbicida " + (herbOk ? "suficiente" : "insuficiente") + $" para pulverizar o corredor. Distância segura pulverizando: {DistanciaSeguraHerbicida_m:F1} m, corredor: {distanciaCorredor:F1} m";
+            bool exigirPulverizacaoTotal =
+                Variaveis.OperacaoEmAndamento.Parametros?.ModulosMandatorios?
+                    .Any(x => x.Dispositivo == T_Code.Atu && x.Mandatorio && x.Utilizar) ?? false;
 
-            if (!bateriaOk)
+            // ==========================
+            // 1) Calcula status "base" (sem considerar trava)
+            // ==========================
+            AutonomiaCorredorStatus statusBase;
+            string motivoBase = "";
+            string motivoBat = "Bateria " + (bateriaOk ? "suficiente" : "insuficiente") +
+                               $". Distância segura: {DistanciaSeguraBateria_m:F1} m, corredor: {distanciaCorredor:F1} m";
+            string motivoHerb = "Herbicida " + (herbOk ? "suficiente" : "insuficiente") +
+                                $" para pulverizar o corredor. Distância segura pulverizando: {DistanciaSeguraHerbicida_m:F1} m, corredor: {distanciaCorredor:F1} m";
+
+            // Regra: bateria insuficiente é sempre crítica (não atravessa com segurança)
+            bool criticoBateria = !bateriaOk;
+
+            // Regra: herbicida insuficiente só vira crítico se pulverização total é mandatória
+            bool criticoHerbicida = !herbOk && exigirPulverizacaoTotal;
+
+            if (criticoBateria || criticoHerbicida)
             {
-                status_mods.Add(!bateria_liberada ? AutonomiaCorredorStatus.Critico : AutonomiaCorredorStatus.OkSupervisionado);
-                if (bateria_liberada) _motivo_bat = $"Liberação humana: {_motivo_bat}";
-                _motivo += _motivo_bat;
+                statusBase = AutonomiaCorredorStatus.Critico;
+
+                if (criticoBateria)
+                    motivoBase += motivoBat;
+
+                if (!herbOk)
+                    motivoBase += (string.IsNullOrEmpty(motivoBase) ? "" : "; ") + motivoHerb;
             }
-
-            if (!herbOk)
+            else
             {
-                if (exigirPulverizacaoTotal)
-                    status_mods.Add(!reservatorio_liberado ? AutonomiaCorredorStatus.Critico : AutonomiaCorredorStatus.OkSupervisionado);
+                // Não crítico
+                if (!herbOk && !exigirPulverizacaoTotal)
+                {
+                    // Pode atravessar, mas não pulveriza tudo
+                    statusBase = AutonomiaCorredorStatus.OkSomenteTransito;
+                    motivoBase = motivoHerb;
+                }
                 else
-                    status_mods.Add(AutonomiaCorredorStatus.OkSomenteTransito);
-                if (reservatorio_liberado) _motivo_herb = $"Liberação humana: {_motivo_herb}";
-                _motivo += (string.IsNullOrEmpty(_motivo) ? "" : "; ") + _motivo_herb;
+                {
+                    // Tudo ok
+                    statusBase = AutonomiaCorredorStatus.OkCompleto;
+                }
             }
 
-            Status =
-                status_mods.Contains(AutonomiaCorredorStatus.Critico) ? AutonomiaCorredorStatus.Critico :
-                status_mods.Contains(AutonomiaCorredorStatus.OkSupervisionado) ? AutonomiaCorredorStatus.OkSupervisionado :
-                status_mods.Contains(AutonomiaCorredorStatus.OkSomenteTransito) ? AutonomiaCorredorStatus.OkSomenteTransito :
-                AutonomiaCorredorStatus.OkCompleto;
+            // ==========================
+            // 2) Atualiza timers de crítico e ativa trava se necessário
+            // ==========================
+            bool estaCriticoAgora = (statusBase == AutonomiaCorredorStatus.Critico);
+
+            if (estaCriticoAgora)
+            {
+                if (!_inicioCriticoUtc.ContainsKey(idxCorredor))
+                    _inicioCriticoUtc[idxCorredor] = DateTime.UtcNow;
+
+                var tempoCritico = DateTime.UtcNow - _inicioCriticoUtc[idxCorredor];
+
+                if (tempoCritico >= _tempoParaTravar)
+                    _corredoresTravados.Add(idxCorredor);
+            }
+            else
+            {
+                // Saiu do crítico -> reseta timer (mas não destrava automaticamente se já travou)
+                if (_inicioCriticoUtc.ContainsKey(idxCorredor))
+                    _inicioCriticoUtc.Remove(idxCorredor);
+            }
+
+            // ==========================
+            // 3) Aplicação da trava + liberação humana
+            // ==========================
+            bool corredorTravado = _corredoresTravados.Contains(idxCorredor);
+
+            AutonomiaCorredorStatus statusFinal = statusBase;
+            bool liberadoFinal = false;
+            string motivoFinal = "";
+
+            if (corredorTravado)
+            {
+                // Se travou, não libera sozinho nunca
+                if (!solicitouLiberacaoHumana)
+                {
+                    statusFinal = AutonomiaCorredorStatus.AguardandoLiberacaoManual;
+                    liberadoFinal = false;
+
+                    // Motivo ajuda o operador a entender o porquê
+                    string detalhes = string.IsNullOrEmpty(motivoBase)
+                        ? "Autonomia insuficiente detectada anteriormente."
+                        : motivoBase;
+
+                    motivoFinal = $"Corredor {idxCorredor + 1}: BLOQUEADO. {detalhes} " +
+                                  $"Aguardando liberação do operador pela base.";
+                }
+                else
+                {
+                    // Operador solicitou liberação
+                    if (statusBase != AutonomiaCorredorStatus.Critico)
+                    {
+                        // ✅ Se agora está OK, libera como OK normal (não supervisionado)
+                        statusFinal = statusBase; // OkCompleto ou OkSomenteTransito
+                        liberadoFinal = true;
+
+                        motivoFinal = $"Corredor {idxCorredor + 1}: LIBERADO pelo operador (parâmetros OK). " +
+                                      (string.IsNullOrEmpty(motivoBase) ? "Liberado" : motivoBase);
+
+                        // Destrava o corredor
+                        _corredoresTravados.Remove(idxCorredor);
+                        _inicioCriticoUtc.Remove(idxCorredor);
+                    }
+                    else
+                    {
+                        // ❌ Ainda está crítico, mas operador insistiu -> OkSupervisionado (override)
+                        statusFinal = AutonomiaCorredorStatus.OkSupervisionado;
+                        liberadoFinal = true;
+
+                        motivoFinal = $"Corredor {idxCorredor + 1}: LIBERAÇÃO MANUAL (override). " +
+                                      (string.IsNullOrEmpty(motivoBase) ? "Autonomia insuficiente, mas liberado." : motivoBase);
+
+                        // Destrava o corredor (o operador assumiu)
+                        _corredoresTravados.Remove(idxCorredor);
+                        _inicioCriticoUtc.Remove(idxCorredor);
+                    }
+                }
+            }
+            else
+            {
+                // Sem trava: comportamento raiz
+                statusFinal = statusBase;
+
+                liberadoFinal =
+                    statusFinal == AutonomiaCorredorStatus.OkCompleto ||
+                    statusFinal == AutonomiaCorredorStatus.OkSomenteTransito;
+
+                motivoFinal = $"Corredor {idxCorredor + 1}: " +
+                              (liberadoFinal
+                                  ? (string.IsNullOrEmpty(motivoBase) ? "Liberado" : motivoBase)
+                                  : (string.IsNullOrEmpty(motivoBase) ? "Bloqueado" : motivoBase));
+            }
+
+            // ==========================
+            // 4) Persiste/Loga resultado como você já fazia (mantendo raiz)
+            // ==========================
+            Status = statusFinal;
 
             var res = new AutonomiaCorredorModel()
             {
-                Liberado = _liberado,
-                Motivo = $"Corredor {idxCorredor + 1}: " + (string.IsNullOrEmpty(_motivo) ? "Liberado" : $"{_motivo}"),
-                Status = Status,
+                Iniciado = this.Iniciado,
+                Liberado = liberadoFinal,
+                Motivo = motivoFinal,
+                Status = statusFinal,
                 DistanciaCorredor_m = DistanciaCorredor_m,
                 DistanciaSeguraBateria_m = DistanciaSeguraBateria_m,
                 DistanciaSeguraHerbicida_m = DistanciaSeguraHerbicida_m,
@@ -2611,11 +2765,17 @@ namespace AgroBase.Models
 
             if (CorredoresLiberados.ContainsKey(idxCorredor))
             {
-                if (CorredoresLiberados[idxCorredor].Liberado == false && _liberado)
+                // Se estava bloqueado e agora liberou, registra mudança
+                if (CorredoresLiberados[idxCorredor].Liberado == false && liberadoFinal)
                 {
                     CorredoresLiberados[idxCorredor] = res;
                     addLog = true;
                 }
+                else
+                {
+                    // Mantém o mais recente motivo/status para UI (opcional)
+                    CorredoresLiberados[idxCorredor] = res;
+                }
             }
             else
             {
@@ -2625,18 +2785,28 @@ namespace AgroBase.Models
 
             if (addLog)
             {
-                Variaveis.OperacaoEmAndamento.Sensoriamento.InserirLog(T_Code.Trj, _liberado ? StatusModulo.Operante : StatusModulo.Alerta, _liberado ? 100 : 0, res.Motivo);
+                // Mantive tua ideia: loga operante quando liberado, alerta quando não
+                Variaveis.OperacaoEmAndamento.Sensoriamento.InserirLog(
+                    T_Code.Trj,
+                    liberadoFinal ? StatusModulo.Operante : StatusModulo.Alerta,
+                    liberadoFinal ? 100 : 0,
+                    res.Motivo
+                );
             }
 
-            Liberado = CorredoresLiberados[idxCorredor].Liberado;
-            Motivo = CorredoresLiberados[idxCorredor].Motivo;
+            // Atualiza estado exposto
+            Liberado = res.Liberado;
+            Motivo = res.Motivo;
         }
 
-
+        // ==========================
+        // Clone (mantido)
+        // ==========================
         public AutonomiaCorredorModel Clone()
         {
             return new AutonomiaCorredorModel()
             {
+                Iniciado = Iniciado,
                 Liberado = Liberado,
                 Motivo = Motivo,
                 Status = Status,

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/health_worker/main.py

@@ -49,7 +49,7 @@ def main():
 
             try:
                 # Atualizar SAÚDE DOS MÓDULOS a cada 2.5s
-                if (agora - ultimo_saude_modulos) >= 2.5:
+                if (agora - ultimo_saude_modulos) >= 0.5:
                     try:
                         for t_code, modulo in modulos.items():
                             modulo.atualizar_saude()

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/health_worker/modulos/ponte_ip.py

@@ -1,9 +1,11 @@
+import re
 import time
 import threading
 import statistics
 import socket
 import psutil
 import subprocess
+from concurrent.futures import ThreadPoolExecutor
 from collections import deque
 import paho.mqtt.client as mqtt
 from shared.contexto_global_redis import ContextoGlobalRedis
@@ -19,7 +21,7 @@ class ModuloIPBribge(ModuloDiagnosticoBase):
         self._thread_saude = None
         self._running = False
 
-        self.nic_name = None
+        self.nic_name = self.descobrir_nic_para_base()
         self.window_size = window_size
 
         self.rtts = deque(maxlen=window_size)   # ping válidos (ms)
@@ -37,9 +39,88 @@ class ModuloIPBribge(ModuloDiagnosticoBase):
         self.last_heartbeat_ts = time.time()  # atualize isso de fora
 
         self.rover_id = None
-        self._mqtt_conectado = False
         self.sub = False
-        self._start_mqtt_heartbeat()
+        
+        self._mqtt = None
+        self._mqtt_conectado = False
+        self._mqtt_executor = ThreadPoolExecutor(max_workers=1)
+        self._mqtt_future = None
+        self._mqtt_lock = threading.Lock()
+        self._mqtt_last_attempt_ts = 0.0
+        self._mqtt_backoff_s = 1.0          # começa rápido
+        self._mqtt_backoff_max_s = 15.0     # limite
+        self._mqtt_connecting = False
+
+        self._ping_executor = ThreadPoolExecutor(max_workers=1)
+        self._ping_future = None
+        self._ping_lock = threading.Lock()
+
+        # snapshot do último ping concluído
+        self._last_ping_ts = 0.0
+        self._last_ping_ok = False
+        self._last_ping_rtt_ms = None
+        self._last_ping_loss_pct = 100.0
+
+        # parâmetros do ping
+        self._ping_timeout_ms = 400     # recomendado: 300–500
+        self._ping_count = 2            # recomendado: 1 (janela já suaviza)
+        self._ping_min_interval = 0.6   # não precisa pingar a cada 100ms
+
+
+
+    def _start_ping_async_if_needed(self):
+        """Dispara ping em background se não houver um em andamento."""
+        now = time.time()
+
+        # respeita intervalo mínimo (evita spam de ping)
+        if (now - self._last_ping_ts) < self._ping_min_interval:
+            return
+
+        # já tem um ping rodando?
+        if self._ping_future is not None and not self._ping_future.done():
+            return
+
+        base_ip = self.get_base_ip()
+        if not base_ip:
+            # sem rota ainda -> considera "sem dados" (não bloqueia)
+            with self._ping_lock:
+                self._last_ping_ts = now
+                self._last_ping_ok = False
+                self._last_ping_rtt_ms = None
+                self._last_ping_loss_pct = 100.0
+            return
+
+        # dispara o ping em background
+        self._ping_future = self._ping_executor.submit(
+            self._ping_once, base_ip, self._ping_count, self._ping_timeout_ms
+        )
+
+    def _consume_ping_result_if_ready(self):
+        """Se o ping terminou, atualiza o snapshot sem bloquear o loop."""
+        if self._ping_future is None or not self._ping_future.done():
+            return
+
+        try:
+            # _ping_once deve retornar: (ok: bool, avg_rtt_ms: Optional[float], loss_pct: float)
+            ok, avg_rtt_ms, loss_pct = self._ping_future.result(timeout=0)
+        except Exception:
+            ok, avg_rtt_ms, loss_pct = False, None, 100.0
+
+        with self._ping_lock:
+            self._last_ping_ts = time.time()
+            self._last_ping_ok = ok
+            self._last_ping_rtt_ms = avg_rtt_ms
+            self._last_ping_loss_pct = loss_pct
+
+        # limpa
+        self._ping_future = None
+
+    def _get_ping_snapshot(self):
+        """Lê o último resultado do ping (snapshot thread-safe)."""
+        with self._ping_lock:
+            return (self._last_ping_ok, self._last_ping_rtt_ms, self._last_ping_loss_pct, self._last_ping_ts)
+
+
 
 
     def atualizar_saude(self):
@@ -72,38 +153,107 @@ class ModuloIPBribge(ModuloDiagnosticoBase):
             self._mqtt.connect(base_ip, 1883, 60)
             self._mqtt.loop_start()
         except:
-            pass
-            #print("Erro ao se conectar no broker mqtt")
+            #pass
+            print("Erro ao se conectar no broker mqtt")
+
+    def _start_mqtt_heartbeat_async(self):
+        """Dispara tentativa de conexão MQTT sem bloquear o loop."""
+        now = time.time()
+
+        with self._mqtt_lock:
+            if self._mqtt_conectado:
+                return
+            if self._mqtt_connecting:
+                return
+
+            # respeita backoff
+            if (now - self._mqtt_last_attempt_ts) < self._mqtt_backoff_s:
+                return
+
+            self._mqtt_last_attempt_ts = now
+            self._mqtt_connecting = True
+
+        base_ip = self.get_base_ip()
+        if base_ip is None:
+            with self._mqtt_lock:
+                self._mqtt_connecting = False
+            return
+
+        # se já tem uma future rodando, não dispara outra
+        if self._mqtt_future is not None and not self._mqtt_future.done():
+            return
+
+        self._mqtt_future = self._mqtt_executor.submit(self._mqtt_connect_worker, base_ip)
+
+    def _mqtt_connect_worker(self, base_ip: str):
+        """Roda em background. Pode bloquear aqui sem travar o health."""
+        try:
+            client = mqtt.Client()
+            client.on_connect = self._on_connect
+            client.on_message = self._on_message
+            client.on_disconnect = self._on_disconnect
+
+            # dica V1: keepalive menor ajuda a detectar quedas mais rápido
+            keepalive = 15
+
+            # conecta (bloqueante)
+            client.connect(base_ip, 1883, keepalive)
+
+            # se chegou aqui, iniciou. loop_start é não-bloqueante
+            client.loop_start()
+
+            # troca o client com lock (evita race)
+            with self._mqtt_lock:
+                # se tinha um client antigo, tenta parar
+                if self._mqtt is not None:
+                    try:
+                        self._mqtt.loop_stop()
+                        self._mqtt.disconnect()
+                    except:
+                        pass
+
+                self._mqtt = client
+                # on_connect vai setar _mqtt_conectado quando confirmar
+
+        except Exception:
+            # falhou: libera pra tentar de novo com backoff maior
+            with self._mqtt_lock:
+                self._mqtt_conectado = False
+                self._mqtt_connecting = False
+                self._mqtt_backoff_s = min(self._mqtt_backoff_s * 2.0, self._mqtt_backoff_max_s)
+
 
     def _on_connect(self, client, userdata, flags, rc):
-        if rc == 0:
-            print("[HEARTBEAT] MQTT conectado")
-            self._mqtt_conectado = True
-
-            self._reset_janelas()
-
-            self.rover_id = ContextoGlobalRedis.get_equipamento().get("serial_number")
-
-            if self.sub == False:
-                topic = f"agrobot/v1/rover/{self.rover_id}/heartbeat"
-                client.subscribe(topic)
-                print("[HEARTBEAT] Subscribado em:", topic)
-                self.sub = True
-        else:
-            print("Erro ao conectar MQTT:", rc)
+        with self._mqtt_lock:
+            self._mqtt_conectado = (rc == 0)
+            self._mqtt_connecting = False
+            # reset backoff quando conecta
+            if self._mqtt_conectado:
+                self._mqtt_backoff_s = 1.0
+                self._reset_janelas()
+                self.rover_id = ContextoGlobalRedis.get_equipamento().get("serial_number")
+                if self.sub == False:
+                    topic = f"agrobot/v1/rover/{self.rover_id}/heartbeat"
+                    client.subscribe(topic)
+                    print("[HEARTBEAT] Subscribado em:", topic)
+                    self.sub = True
+            else:
+                print("Erro ao conectar MQTT:", rc)
 
     def _on_disconnect(self, client, userdata, rc):
-        print("[HEARTBEAT] MQTT desconectado!", rc)
-        self._mqtt_conectado = False
-        self.sub = False
+        with self._mqtt_lock:
+            self._mqtt_conectado = False
+            self._mqtt_connecting = False
+            self.sub = False
+            print("[HEARTBEAT] MQTT desconectado!", rc)
 
-        # se rc != 0 significa desconexão inesperada
-        if rc != 0:
-            print("[HEARTBEAT] Desconexão inesperada — pode ter perdido o link 900 MHz")
+            # se rc != 0 significa desconexão inesperada
+            if rc != 0:
+                print("[HEARTBEAT] Desconexão inesperada — pode ter perdido o link 900 MHz")
             
-        # Marca como "sem heartbeat" instantâneo (opcional)
-        # Aqui podemos forçar atraso grande
-        self.last_heartbeat_ts = 0
+            # Marca como "sem heartbeat" instantâneo (opcional)
+            # Aqui podemos forçar atraso grande
+            self.last_heartbeat_ts = 0
 
     def _on_message(self, client, userdata, msg):
         topic = msg.topic
@@ -185,7 +335,7 @@ class ModuloIPBribge(ModuloDiagnosticoBase):
         self.last_bw_counters = counters
         self.last_bw_ts = now
 
-    def _ping_once(self):
+    def _ping_once_old(self, pings=5, timeout=500):
         """
         Retorna RTT em ms se ok, ou None se timeout.
         Aqui exemplo pra Windows usando 'ping -n 1'.
@@ -198,14 +348,14 @@ class ModuloIPBribge(ModuloDiagnosticoBase):
 
             # timeout de 1000 ms
             proc = subprocess.run(
-                ["ping", "-n", "5", "-w", "500", base_ip],
+                ["ping", "-n", f"{pings}", "-w", f"{timeout}", base_ip],
                 capture_output=True, text=True
             )
             if proc.returncode != 0:
-                #print("timeout")
+                print("timeout")
                 return None, 100
 
-            #print(proc.stdout)
+            print(proc.stdout)
 
             perda = None
             media_tempo = None
@@ -224,6 +374,51 @@ class ModuloIPBribge(ModuloDiagnosticoBase):
             print("erro timeout")
             return None, 100
 
+    def _ping_once(self, base_ip: str, pings: int, timeout_ms: int):
+        """
+        Retorna (ok: bool, avg_rtt_ms: float|None, loss_pct: float)
+        Compatível com o ping async.
+        """
+        try:
+            cmd = ["ping", "-n", str(pings), "-w", str(timeout_ms), base_ip]
+            proc = subprocess.run(cmd, capture_output=True, text=True)
+            out = (proc.stdout or "") + "\n" + (proc.stderr or "")
+
+            # Reply confiável: TTL=
+            replies = len(re.findall(r"TTL=", out, flags=re.IGNORECASE))
+            ok = replies > 0
+
+            # Tempo: time=12ms / time<1ms / tempo=12ms
+            times = []
+            for m in re.findall(r"(?:time|tempo)[=<]\s*(\d+)\s*ms", out, flags=re.IGNORECASE):
+                try:
+                    times.append(float(m))
+                except:
+                    pass
+            avg_rtt_ms = (sum(times) / len(times)) if times else None
+
+            # Loss: "Lost = X" ou "Perdidos = X"
+            lost = None
+            m = re.search(r"(?:Lost|Perdidos)\s*=\s*(\d+)", out, flags=re.IGNORECASE)
+            if m:
+                lost = int(m.group(1))
+            else:
+                # fallback pelo número de replies
+                lost = max(0, int(pings) - replies)
+
+            loss_pct = (lost / max(1, int(pings))) * 100.0
+
+            # (opcional) debug leve em caso de falha
+            # if not ok:
+            #     print("PING FAIL:", base_ip, "rc:", proc.returncode)
+            #     print(out)
+
+            return ok, avg_rtt_ms, loss_pct
+
+        except Exception as e:
+            # (opcional) print(e)
+            return False, None, 100.0
+
     def _update_nic_errors(self):
         if self.nic_name is None:
             self.nic_name = self.descobrir_nic_para_base()
@@ -306,7 +501,7 @@ class ModuloIPBribge(ModuloDiagnosticoBase):
             loss_score = 0
 
         # JITTER
-        if len(self.rtts) > 1:
+        if len(self.rtts) > 2:
             jitter = statistics.pstdev(self.rtts)
             if jitter <= 10:
                 jitter_score = 100
@@ -319,7 +514,7 @@ class ModuloIPBribge(ModuloDiagnosticoBase):
         else:
             jitter = 0.0
             # Sem dados suficientes, melhor considerar "desconhecido" => score neutro/baixo
-            jitter_score = 0
+            jitter_score = 1
 
         # NIC ERRORS
         if self.nic_error_rates:
@@ -337,14 +532,11 @@ class ModuloIPBribge(ModuloDiagnosticoBase):
             nic_score = 0
 
         # HEARTBEAT (score usando "atraso")
-        if atraso <= 1.5:
-            hb_score = 100
-        elif atraso <= 2:
-            hb_score = 80
-        elif atraso <= 5:
-            hb_score = 30
-        else:
-            hb_score = 0
+        t0, t1 = 1.0, 3.0  # 1s perfeito, 3s zerou
+        x = (atraso - t0) / (t1 - t0)  # 0..1
+        x = max(0.0, min(1.0, x))
+        gamma = 1.6  # >1 deixa cair mais rápido perto do final
+        hb_score = int(round(100 * (1.0 - (x ** gamma))))
 
         # retorna scores + brutos
         return (
@@ -353,8 +545,9 @@ class ModuloIPBribge(ModuloDiagnosticoBase):
         )
 
     def atualizar_saude_interno(self):
+        #print("atualizando saude IPB...")
         try:
-            self._start_mqtt_heartbeat()
+            self._start_mqtt_heartbeat_async()
 
             SAUDE_MIN_ALERTA = 80
 
@@ -363,14 +556,27 @@ class ModuloIPBribge(ModuloDiagnosticoBase):
             saude_individual = []
             conectado = self.get_base_ip() is not None and self.nic_name is not None and self._mqtt_conectado
 
-            (rtt, loss) = self._ping_once()
-            #print(f"rtt: {rtt}, loss: {loss}")
+            # 1) consome resultado pronto (não bloqueia)
+            self._consume_ping_result_if_ready()
+            # 2) dispara novo ping se precisar (não bloqueia)
+            self._start_ping_async_if_needed()
+            # 3) usa snapshot pra alimentar suas janelas rtts/loses/timeouts
+            ok, rtt, loss, ping_ts = self._get_ping_snapshot()
+            #print(f"ok: {ok}, rtt: {rtt}, loss: {loss}, ping_ts: {ping_ts}")
             self.timeouts.append(loss == 100)
-            if rtt is not None:
+            if ok and rtt is not None:
                 self.rtts.append(rtt)
             if loss is not None:
                 self.loses.append(loss)
 
+            #(rtt, loss) = self._ping_once_old(pings=3, timeout=200)
+            #print(f"rtt: {rtt}, loss: {loss}")
+            #self.timeouts.append(loss == 100)
+            #if rtt is not None:
+            #    self.rtts.append(rtt)
+            #if loss is not None:
+            #    self.loses.append(loss)
+
             self._update_nic_errors()
             self._update_nic_bandwidth()
             

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/movimentacao.py

@@ -50,11 +50,16 @@ def definir_comando(parada_necessaria: bool, erro: bool, filtro_vel: FiltroVeloc
 
         pontos_min = 3
         vel_min = 15.0
-        ervas_min_percenet = 0.005 # 5%
+        ervas_min_percenet = 0.005 # 0.5%
+        #pct_erva_bico_on = _contexto.get("Atu", {}).get("pct_erva_bico_on", 0.03)
+        #qtd_bicos = _contexto.get("Atu", {}).get("qtd_bicos", 3.0)
+        #ervas_min_percenet = round(pct_erva_bico_on / qtd_bicos, 5)
         vel_com_ervas = _operacao.get("Mov", {}).get("percent_vel_min", 0)
         vel_sem_ervas = _operacao.get("Mov", {}).get("percent_vel_max", 100)
         ang_max = _operacao.get("Dir", {}).get("angulo_max", 30)
 
+        status_ipb = StatusModulo(ContextoGlobalRedis.get_modulo(T_Code.Ipb).get("saude", {}).get("status", StatusModulo.DESCONECTADO.value))
+        
         status_carro = StatusCarroMapa.Parado
         reduzir_para_pulverizar = False
         pontos_fim_corredor = -1
@@ -70,7 +75,9 @@ def definir_comando(parada_necessaria: bool, erro: bool, filtro_vel: FiltroVeloc
 
         velocidade_sp = vel_com_ervas
 
-        if status_carro == StatusCarroMapa.Parado:
+        if status_ipb != StatusModulo.OPERANTE:
+            velocidade_sp = vel_min
+        elif status_carro == StatusCarroMapa.Parado:
             velocidade_sp = 0
         elif status_carro in [StatusCarroMapa.Direcionando, StatusCarroMapa.RetornandoBase]:
             velocidade_sp = calcular_velocidade_relativa(vel_com_ervas, vel_sem_ervas, ang_max, erro_orientacao, k=0.85, curva=0.8, dead=10.0)

AgroBase/OperationControl/Windows/MainWindow.xaml.cs

@@ -1262,6 +1262,12 @@ namespace OperationControl.Windows
                         txtTrajetoria_HerbOk.Text = (dados?.HerbicidaSuficiente ?? false) ? "Sim" : "Não";
 
                         btnTrajetoria_Confirmar.IsEnabled = !(dados?.Liberado ?? false);
+
+                        if (inicial)
+                        {
+                            chbTrajetoria_BatLiberada.IsChecked = dados?.BateriaSuficiente ?? false;
+                            chbTrajetoria_HerbLiberado.IsChecked = dados?.HerbicidaSuficiente ?? false;
+                        }
                         break;
                     }
                 case AgroBase.Models.Enums.T_Code.Npc:

Python/OAK/datasets/_12_check_percent_class.py

@@ -13,6 +13,7 @@ Uso:
   python _12_check_percent_class_labelmap.py
 """
 
+import argparse
 import os, json
 import numpy as np
 from PIL import Image
@@ -28,8 +29,6 @@ ROI_TAMANHO = config["roi_tamanho"]
 
 pasta_base = os.path.join(MODELO, "dataset")
 labelmap_path = os.path.join(pasta_base, "labelmap.txt")
-root = os.path.join(pasta_base, "split", "train", "group")
-#root = os.path.join(pasta_base, "576x320", "group")
 
 # Limite de amostras por grupo (para rodar rápido). Ajuste se quiser.
 MAX_SAMPLES_PER_GROUP = 1000
@@ -58,52 +57,62 @@ def roi_slice(h):
         y_fim, y_ini = max(0, h - int(ROI_TAMANHO * h)), h
     return slice(y_fim, y_ini)
 
-# -------------- Labelmap --------------
-_, colormap_rgb, classes, ignore_rgb = carregar_labelmap_completo(labelmap_path)
-ignore_id = infer_ignore_id(ignore_rgb, default_id=255)
+def main(args):
+    # -------------- Labelmap --------------
+    _, colormap_rgb, classes, ignore_rgb = carregar_labelmap_completo(labelmap_path)
+    ignore_id = infer_ignore_id(ignore_rgb, default_id=255)
 
-# 'classes' esperado como dict: id -> nome
-# Ordena por id para imprimir de forma estável
-class_ids_sorted = sorted(classes.keys())
-class_names_sorted = [classes[cid] for cid in class_ids_sorted]
+    # 'classes' esperado como dict: id -> nome
+    # Ordena por id para imprimir de forma estável
+    class_ids_sorted = sorted(classes.keys())
+    class_names_sorted = [classes[cid] for cid in class_ids_sorted]
 
-# -------------- Coleta --------------
-if not os.path.isdir(root):
-    raise SystemExit(f"Nenhum diretório encontrado em {root}")
+    root = os.path.join(pasta_base, "split", args.split, "group")
+    #root = os.path.join(pasta_base, "576x320", "group")
 
-grupos = [g for g in os.listdir(root) if os.path.isdir(os.path.join(root, g))]
+    # -------------- Coleta --------------
+    if not os.path.isdir(root):
+        raise SystemExit(f"Nenhum diretório encontrado em {root}")
 
-for g in sorted(grupos):
-    mdir = os.path.join(root, g, "masks")
-    if not os.path.isdir(mdir):
-        continue
+    grupos = [g for g in os.listdir(root) if os.path.isdir(os.path.join(root, g))]
 
-    totals = {cid: 0 for cid in class_ids_sorted}
-    n = 0
-
-    for fname in os.listdir(mdir):
-        if not fname.lower().endswith(".png"):
+    for g in sorted(grupos):
+        mdir = os.path.join(root, g, "masks")
+        if not os.path.isdir(mdir):
             continue
-        m = np.array(Image.open(os.path.join(mdir, fname)).convert("L"))
-        rs = roi_slice(m.shape[0])
-        roi = m[rs, :]
 
-        # Acumula só das classes válidas do labelmap (ignorando 'ignore' e outros valores)
+        totals = {cid: 0 for cid in class_ids_sorted}
+        n = 0
+
+        for fname in os.listdir(mdir):
+            if not fname.lower().endswith(".png"):
+                continue
+            m = np.array(Image.open(os.path.join(mdir, fname)).convert("L"))
+            rs = roi_slice(m.shape[0])
+            roi = m[rs, :]
+
+            # Acumula só das classes válidas do labelmap (ignorando 'ignore' e outros valores)
+            for cid in class_ids_sorted:
+                totals[cid] += int((roi == cid).sum())
+
+            n += 1
+            if n >= MAX_SAMPLES_PER_GROUP:
+                break
+
+        s = sum(totals.values())
+        s = s if s > 0 else 1  # evita div/0
+
+        # Monta string dinâmica "nome=xx.xx%"
+        parts = []
         for cid in class_ids_sorted:
-            totals[cid] += int((roi == cid).sum())
+            name = classes[cid]
+            perc = totals[cid] / s
+            parts.append(f"{name}={perc:6.2%}")
 
-        n += 1
-        if n >= MAX_SAMPLES_PER_GROUP:
-            break
+        print(f"{g:16s}  " + "  ".join(parts) + f"  (amostras={n})")
 
-    s = sum(totals.values())
-    s = s if s > 0 else 1  # evita div/0
-
-    # Monta string dinâmica "nome=xx.xx%"
-    parts = []
-    for cid in class_ids_sorted:
-        name = classes[cid]
-        perc = totals[cid] / s
-        parts.append(f"{name}={perc:6.2%}")
-
-    print(f"{g:16s}  " + "  ".join(parts) + f"  (amostras={n})")
+if __name__ == "__main__":
+    ap = argparse.ArgumentParser(description="Validacao de classes no dataset")
+    ap.add_argument("--split", type=str, default="train", help="Pasta para verificar (ex: train,val,test).")
+    args = ap.parse_args()
+    main(args)

Python/OAK/datasets/_2_create_full_mask_raw.py

@@ -199,10 +199,11 @@ def localizar_raw_correspondente(pasta_new_raws, nome_img: str) -> str | None:
             return candidate
     return None
 
-def processar_novas_imagens(classe, cor_classe_rgb, fazer_copia_final=True, manifesto_csv=None):
-    pasta_new_previews = os.path.join(MODELO, "dataset", "brutas", "group", classe, "previews")
-    pasta_new_masks  = os.path.join(MODELO, "dataset", "brutas", "group", classe, "masks")
-    pasta_new_raws   = os.path.join(MODELO, "dataset", "brutas", "group", classe, "raws")
+def processar_novas_imagens(cana, horario, grupo, cor_classe_rgb, fazer_copia_final=True, manifesto_csv=None, orignais=False):
+    source = os.path.join(MODELO, "dataset", "brutas", f"cana_{cana}", horario) if not orignais else os.path.join(MODELO, "dataset", "original")
+    pasta_new_previews = os.path.join(source, "group", grupo, "previews")
+    pasta_new_masks  = os.path.join(source, "group", grupo, "masks")
+    pasta_new_raws   = os.path.join(source, "group", grupo, "raws")
 
     garantir_pasta(pasta_new_previews)
     garantir_pasta(pasta_new_masks)
@@ -281,8 +282,12 @@ def build_cli():
     ap = argparse.ArgumentParser(
         description="Gera máscaras sólidas para novas imagens de UMA classe (via labelmap) e copia para dataset final com dedup."
     )
+    ap.add_argument("--cana", required=True, choices=["baixa", "media", "alta"], help="Estado da cana no momento da coleta.")
+    ap.add_argument("--horario", required=True, choices=["cedo", "meio_dia", "entardecer", "nublado"], help="Janela de iluminação / horário da coleta.")
     ap.add_argument("--classe", required=True, help="Nome da classe (como está no labelmap.txt). Ex: chao, cana, erva")
+    ap.add_argument("--grupo", required=True, help="Nome da pasta grupo. Ex: chao, cana, erva, chao_cana, chao_cana_erva")
     ap.add_argument("--no-copy", action="store_true", help="Não copia para as pastas finais (só cria masks em new_masks).")
+    ap.add_argument("--from-originals", action="store_true", help="Faz o procedimento na pasta em originais")
     ap.add_argument("--manifest", default="", help="Caminho do CSV de manifesto a gerar (ou vazio para não gerar).")
     return ap
 
@@ -303,8 +308,11 @@ if __name__ == "__main__":
     manifesto_csv = args.manifest if args.manifest else None
 
     processar_novas_imagens(
-        classe=args.classe,
+        cana=args.cana,
+        horario=args.horario,
+        grupo=args.grupo,
         cor_classe_rgb=cor_rgb,
         fazer_copia_final=fazer_copia,
         manifesto_csv=manifesto_csv,
+        orignais=args.from_originals
     )

Python/OAK/datasets/_2_ingest_new_masks.py

@@ -12,7 +12,7 @@ with open("config.json", "r") as f:
 MODELO = config["camera"]
 
 # Raiz das brutas agrupadas
-PASTA_BRUTAS_GROUP_ROOT = os.path.join(MODELO, "dataset", "brutas", "group")
+PASTA_BRUTAS_GROUP_ROOT = os.path.join(MODELO, "dataset", "brutas")
 
 # Onde as máscaras novas (rotuladas externamente) são colocadas
 PASTA_NEW_MASKS = os.path.join(MODELO, "dataset", "new_masks")
@@ -180,6 +180,8 @@ def build_cli():
             "nas subpastas de dataset/brutas/group/** e copiando tudo para dataset/original."
         )
     )
+    ap.add_argument("--cana", required=True, choices=["baixa", "media", "alta"], help="Estado da cana no momento da coleta.")
+    ap.add_argument("--horario", required=True, choices=["cedo", "meio_dia", "entardecer", "nublado"], help="Janela de iluminação / horário da coleta.")
     ap.add_argument("--copy", action="store_true", help="Copia as máscaras em vez de mover (por padrão, move e esvazia new_masks conforme ingere).")
     ap.add_argument("--manifest", default="", help="Caminho para CSV de manifesto (opcional).")
     return ap
@@ -191,7 +193,9 @@ if __name__ == "__main__":
     manifesto = args.manifest if args.manifest.strip() else None
     mover = not args.copy
 
-    print(f"[INFO] MODELO              : {MODELO}")
+    PASTA_BRUTAS_GROUP_ROOT = os.path.join(PASTA_BRUTAS_GROUP_ROOT, f"cana_{args.cana}", args.horario, "group")
+
+    print(f"[INFO] MODELO             : {MODELO}")
     print(f"[INFO] Brutas (group root): {PASTA_BRUTAS_GROUP_ROOT}")
     print(f"[INFO] New masks          : {PASTA_NEW_MASKS}")
     print(f"[INFO] Mover máscaras?    : {mover}")

Python/OAK/datasets/_3_adjust_ignore_class.py

@@ -1,68 +0,0 @@
-import json
-import os
-import cv2
-import numpy as np
-
-# ⚙️ Configurações
-with open("config.json", "r") as f:
-    config = json.load(f)
-MODELO = config["camera"]
-
-pasta_mascaras = os.path.join(MODELO, "dataset", "original", "masks")
-
-# Regras de substituição (cores em RGB)
-# Exemplo: trocar (255, 0, 0) por branco (255,255,255) com tolerância 10
-SUBSTITUICOES = [
-    #{"target_rgb": (255, 255, 255), "tolerancia": 10, "replace_rgb": (128, 0, 0)},  # branco -> vermelho
-    
-    #{"target_rgb": (128, 0, 0), "tolerancia": 50, "replace_rgb": (128, 0, 0)},    # chao
-    #{"target_rgb": (0, 128, 0), "tolerancia": 50, "replace_rgb": (0, 128, 0)},    # erva
-    #{"target_rgb": (0, 0, 128), "tolerancia": 50, "replace_rgb": (0, 0, 128)},    # cana
-
-    {"target_rgb": (128, 0, 0), "tolerancia": 50, "replace_rgb": (128, 0, 0)},    # chao
-    {"target_rgb": (0, 128, 0), "tolerancia": 50, "replace_rgb": (0, 128, 0)},    # cana
-    {"target_rgb": (0, 0, 128), "tolerancia": 50, "replace_rgb": (0, 0, 128)},    # obstaculo
-]
-
-def aplicar_substituicoes(img_bgr):
-    """Recebe imagem BGR (OpenCV) e aplica regras RGB com tolerância, de forma vetorizada."""
-    # Converte uma vez pra RGB só para fazer o match nas cores “humanas”
-    img_rgb = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2RGB)
-
-    for rule in SUBSTITUICOES:
-        (tr, tg, tb) = rule["target_rgb"]
-        tol = int(rule.get("tolerancia", 0))
-        (rr, rg, rb) = rule["replace_rgb"]
-
-        # Faixa inferior/superior com tolerância (clamp 0..255)
-        lower = np.array([max(tr - tol, 0), max(tg - tol, 0), max(tb - tol, 0)], dtype=np.uint8)
-        upper = np.array([min(tr + tol, 255), min(tg + tol, 255), min(tb + tol, 255)], dtype=np.uint8)
-
-        # Máscara booleana dos pixels a substituir
-        mask = cv2.inRange(img_rgb, lower, upper)  # 255 onde bate
-
-        if np.any(mask):
-            # Cria uma imagem de destino RGB com a cor de replace
-            replace_rgb = np.zeros_like(img_rgb)
-            replace_rgb[:] = (rr, rg, rb)
-            # Faz o blend: onde mask==255, põe replace; onde não, mantém original
-            img_rgb = np.where(mask[..., None] == 255, replace_rgb, img_rgb)
-
-    # Volta pra BGR pro OpenCV salvar
-    return cv2.cvtColor(img_rgb, cv2.COLOR_RGB2BGR)
-
-def corrigir_mascara(caminho_img):
-    img_bgr = cv2.imread(caminho_img, cv2.IMREAD_COLOR)
-    if img_bgr is None:
-        print(f"[ERRO] Não abriu: {caminho_img}")
-        return
-
-    out_bgr = aplicar_substituicoes(img_bgr)
-    if not np.array_equal(out_bgr, img_bgr):
-        cv2.imwrite(caminho_img, out_bgr)
-        print(f"Ajustado: {os.path.basename(caminho_img)}")
-
-if __name__ == "__main__":
-    for nome in os.listdir(pasta_mascaras):
-        if nome.lower().endswith((".png", ".jpg", ".jpeg")):
-            corrigir_mascara(os.path.join(pasta_mascaras, nome))

Python/OAK/datasets/_3_change_mask_color.py

@@ -0,0 +1,147 @@
+import argparse
+from pathlib import Path
+
+import numpy as np
+from PIL import Image
+
+
+def process_mask_rgb(
+    in_path: Path,
+    out_path: Path,
+    src_rgb: tuple[int, int, int],
+    dst_rgb: tuple[int, int, int],
+    keep_other_colors: bool,
+):
+    """
+    Troca pixels de uma cor RGB exata por outra cor RGB.
+
+    - src_rgb: (R, G, B) que será substituída
+    - dst_rgb: (R, G, B) nova cor
+    - keep_other_colors:
+        True  -> mantém outras cores como estão
+        False -> tudo que não for src_rgb vira preto (0,0,0)
+    """
+    img = Image.open(in_path).convert("RGB")
+    arr = np.array(img)  # (H, W, 3) uint8
+
+    src_r, src_g, src_b = src_rgb
+    dst_r, dst_g, dst_b = dst_rgb
+
+    # Máscara de pixels que são exatamente a cor origem
+    mask = (
+        (arr[:, :, 0] == src_r)
+        & (arr[:, :, 1] == src_g)
+        & (arr[:, :, 2] == src_b)
+    )
+
+    if keep_other_colors:
+        # Só troca onde é src_rgb
+        arr[mask] = np.array([dst_r, dst_g, dst_b], dtype=np.uint8)
+    else:
+        # Primeiro zera tudo que não é src_rgb
+        arr[~mask] = np.array([0, 0, 0], dtype=np.uint8)
+        # Depois coloca dst_rgb onde era src_rgb
+        arr[mask] = np.array([dst_r, dst_g, dst_b], dtype=np.uint8)
+
+    out_path.parent.mkdir(parents=True, exist_ok=True)
+    Image.fromarray(arr, mode="RGB").save(out_path)
+
+
+def parse_rgb(s: str) -> tuple[int, int, int]:
+    """
+    Converte string no formato "R,G,B" para tupla (R,G,B).
+    Ex: "128,0,0" -> (128, 0, 0)
+    """
+    parts = s.split(",")
+    if len(parts) != 3:
+        raise argparse.ArgumentTypeError(
+            f"RGB inválido: '{s}'. Use o formato R,G,B (ex: 128,0,0)."
+        )
+    try:
+        r, g, b = [int(p.strip()) for p in parts]
+    except ValueError:
+        raise argparse.ArgumentTypeError(
+            f"RGB inválido: '{s}'. Valores devem ser inteiros 0..255."
+        )
+    for v in (r, g, b):
+        if not (0 <= v <= 255):
+            raise argparse.ArgumentTypeError(
+                f"RGB inválido: '{s}'. Cada valor deve estar entre 0 e 255."
+            )
+    return (r, g, b)
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="Troca uma cor RGB exata por outra em máscaras (png/jpg/etc)."
+    )
+    parser.add_argument(
+        "--masks_dir",
+        type=str,
+        required=True,
+        help="Pasta com as máscaras de entrada (procura recursivamente por png/jpg/etc).",
+    )
+    parser.add_argument(
+        "--out_dir",
+        type=str,
+        default=None,
+        help="Pasta de saída. Se não for informada, sobrescreve as máscaras originais.",
+    )
+    parser.add_argument(
+        "--src_rgb",
+        type=parse_rgb,
+        required=True,
+        help='Cor origem no formato "R,G,B" (ex: "128,0,0").',
+    )
+    parser.add_argument(
+        "--dst_rgb",
+        type=parse_rgb,
+        required=True,
+        help='Cor destino no formato "R,G,B" (ex: "0,0,0").',
+    )
+    parser.add_argument(
+        "--keep_other_colors",
+        action="store_true",
+        help="Se setado, mantém outras cores como estão. "
+             "Se omitido, tudo que não for src_rgb vira preto (0,0,0).",
+    )
+
+    args = parser.parse_args()
+
+    masks_dir = Path(args.masks_dir)
+    if not masks_dir.is_dir():
+        raise SystemExit(f"Pasta de máscaras não encontrada: {masks_dir}")
+
+    if args.out_dir is None:
+        out_dir = masks_dir
+        print(f"[INFO] Sem out_dir, sobrescrevendo arquivos em {masks_dir}")
+    else:
+        out_dir = Path(args.out_dir)
+        out_dir.mkdir(parents=True, exist_ok=True)
+        print(f"[INFO] Salvando máscaras convertidas em {out_dir}")
+
+    exts = {".png", ".jpg", ".jpeg", ".tif", ".tiff", ".bmp"}
+    files = [p for p in masks_dir.rglob("*") if p.suffix.lower() in exts]
+
+    print(f"[INFO] Encontrados {len(files)} arquivos de máscara.")
+
+    for i, in_path in enumerate(files, 1):
+        rel = in_path.relative_to(masks_dir)
+        out_path = out_dir / rel
+
+        process_mask_rgb(
+            in_path=in_path,
+            out_path=out_path,
+            src_rgb=args.src_rgb,
+            dst_rgb=args.dst_rgb,
+            keep_other_colors=args.keep_other_colors,
+        )
+
+        if i % 50 == 0 or i == len(files):
+            print(f"[INFO] Processados {i}/{len(files)} arquivos")
+
+    print("[OK] Conversão concluída.")
+
+
+if __name__ == "__main__":
+    main()

Python/OAK/datasets/_3_copy_selected_images_to_mask.py

@@ -0,0 +1,328 @@
+import json
+import os
+import shutil
+import argparse
+import csv
+
+# ================= CONFIG =================
+
+with open("config.json", "r") as f:
+    config = json.load(f)
+
+MODELO = config["camera"]
+
+# Raiz das brutas (todas as canas/horários/grupos)
+PASTA_BRUTAS_ROOT = os.path.join(MODELO, "dataset", "brutas")
+
+# Onde você coloca os previews selecionados (tudo misturado)
+PASTA_SELECTED_PREVIEWS = os.path.join(MODELO, "dataset", "selected_previews")
+
+# Destino final, organizado por grupo:
+# dataset/original/group/{GRUPO}/{previews,raws,metas,masks}
+PASTA_ORIGINAL_GROUP_ROOT = os.path.join(MODELO, "dataset", "original", "group")
+
+EXT_PREVIEWS = (".png", ".jpg", ".jpeg")
+EXT_RAWS     = (".raw",)
+EXT_MASKS    = (".png",)
+# Ajusta se suas metas tiverem outra extensão
+EXT_METAS    = (".json", ".yml", ".yaml", ".txt", ".csv")
+
+
+# ================= HELPERS =================
+
+def garantir_pasta(p: str):
+    os.makedirs(p, exist_ok=True)
+
+
+def nome_disponivel(dest_dir: str, base: str, ext: str) -> str:
+    """
+    Devolve um caminho disponível em dest_dir com base + ext.
+    Se já existir, adiciona _001, _002, ...
+    """
+    p = os.path.join(dest_dir, base + ext)
+    if not os.path.exists(p):
+        return p
+
+    i = 1
+    while True:
+        p = os.path.join(dest_dir, f"{base}_{i:03d}{ext}")
+        if not os.path.exists(p):
+            return p
+        i += 1
+
+
+def buscar_por_base(pasta: str, base: str, exts: tuple[str, ...]) -> str | None:
+    """
+    Procura um arquivo em 'pasta' com o mesmo 'base' e qualquer extensão em 'exts'.
+    Retorna o caminho completo ou None.
+    """
+    if not os.path.isdir(pasta):
+        return None
+
+    for nome in os.listdir(pasta):
+        nome_lower = nome.lower()
+        root, ext = os.path.splitext(nome_lower)
+        if root == base.lower() and ext in exts:
+            return os.path.join(pasta, nome)
+
+    return None
+
+
+def indexar_brutas_por_raw(root_brutas: str):
+    """
+    Varre dataset/brutas recursivamente, olhando pastas 'raws' e montando índice:
+
+      base -> {
+        "raw": caminho_raw,
+        "cana": "cana_alta" | "cana_baixa" | ... (se conseguir inferir),
+        "horario": "meio_dia" | "cedo" | ... (se conseguir inferir),
+        "grupo": "<GRUPO>",
+        "group_dir": caminho_da_pasta_do_grupo
+      }
+
+    Estrutura esperada (relativa a root_brutas):
+      cana_alta/meio_dia/group/<GRUPO>/raws/*.raw
+    """
+    index = {}
+
+    if not os.path.isdir(root_brutas):
+        print(f"[AVISO] Pasta de brutas não existe: {root_brutas}")
+        return index
+
+    for dirpath, dirnames, filenames in os.walk(root_brutas):
+        base_dir = os.path.basename(dirpath).lower()
+
+        if base_dir != "raws":
+            continue
+
+        # dirpath = .../cana_x/horario/group/<GRUPO>/raws
+        group_dir = os.path.dirname(dirpath)  # .../cana_x/horario/group/<GRUPO>
+
+        rel = os.path.relpath(dirpath, root_brutas)
+        parts = rel.split(os.sep)
+
+        # Defaults
+        cana = None
+        horario = None
+        grupo = None
+
+        if len(parts) >= 5:
+            # [0] = cana_<...>
+            # [1] = horario
+            # [2] = "group"
+            # [3] = <GRUPO>
+            cana = parts[0]
+            horario = parts[1]
+            # parts[2] deve ser "group"
+            grupo = parts[3]
+        else:
+            # fallback bem genérico
+            if "group" in parts:
+                i = parts.index("group")
+                if i + 1 < len(parts):
+                    grupo = parts[i + 1]
+
+        for nome in filenames:
+            if not nome.lower().endswith(EXT_RAWS):
+                continue
+
+            base = os.path.splitext(nome)[0]
+
+            if base in index:
+                # Conflito (mesmo base em dois lugares) -> loga e mantém o primeiro
+                print(f"[CONFLITO] base repetida em raws: {base}")
+                continue
+
+            raw_path = os.path.join(dirpath, nome)
+
+            index[base] = {
+                "raw": raw_path,
+                "cana": cana,
+                "horario": horario,
+                "grupo": grupo,
+                "group_dir": group_dir,
+            }
+
+    print(f"[INDEX] Entradas indexadas por RAW: {len(index)}")
+    return index
+
+
+def organizar_selected_previews(copy_only: bool = False, manifesto_csv: str | None = None):
+    if not os.path.isdir(PASTA_SELECTED_PREVIEWS):
+        raise SystemExit(f"[ERRO] Pasta selected_previews não existe: {PASTA_SELECTED_PREVIEWS}")
+
+    # Indexa todas as brutas a partir dos RAWs
+    index_raws = indexar_brutas_por_raw(PASTA_BRUTAS_ROOT)
+
+    registros = []
+    total, movidos, ignorados = 0, 0, 0
+
+    for nome in os.listdir(PASTA_SELECTED_PREVIEWS):
+        caminho_preview_sel = os.path.join(PASTA_SELECTED_PREVIEWS, nome)
+
+        if not os.path.isfile(caminho_preview_sel):
+            continue
+
+        if not nome.lower().endswith(EXT_PREVIEWS):
+            continue
+
+        total += 1
+
+        base = os.path.splitext(nome)[0]
+
+        info = index_raws.get(base)
+        if info is None:
+            ignorados += 1
+            print(f"[SKIP] {base} -> não encontrado em dataset/brutas (via RAW)")
+            continue
+
+        grupo = info.get("grupo") or "unknown"
+        cana = info.get("cana") or "unknown"
+        horario = info.get("horario") or "unknown"
+        group_dir = info["group_dir"]
+        raw_src = info["raw"]
+
+        # Pastas irmãs em brutas
+        metas_src_dir = os.path.join(group_dir, "metas")
+        masks_src_dir = os.path.join(group_dir, "masks")
+
+        meta_src = buscar_por_base(metas_src_dir, base, EXT_METAS)
+        mask_src = buscar_por_base(masks_src_dir, base, EXT_MASKS)
+
+        # Destino: dataset/original/group/{GRUPO}/{previews,raws,metas,masks}
+        dest_group_root = os.path.join(PASTA_ORIGINAL_GROUP_ROOT, grupo)
+        dest_prev_dir   = os.path.join(dest_group_root, "previews")
+        dest_raw_dir    = os.path.join(dest_group_root, "raws")
+        dest_meta_dir   = os.path.join(dest_group_root, "metas")
+        dest_mask_dir   = os.path.join(dest_group_root, "masks")
+
+        garantir_pasta(dest_prev_dir)
+        garantir_pasta(dest_raw_dir)
+        garantir_pasta(dest_meta_dir)
+        garantir_pasta(dest_mask_dir)
+
+        # Define extensões
+        prev_ext_sel = os.path.splitext(nome)[1].lower()
+        raw_ext      = os.path.splitext(raw_src)[1].lower()
+
+        # Gera nome final único com base no preview
+        dst_preview = nome_disponivel(dest_prev_dir, base, prev_ext_sel)
+        new_base    = os.path.splitext(os.path.basename(dst_preview))[0]
+
+        dst_raw  = os.path.join(dest_raw_dir,  new_base + raw_ext)
+        dst_meta = None
+        dst_mask = None
+
+        if meta_src is not None:
+            meta_ext = os.path.splitext(meta_src)[1].lower()
+            dst_meta = os.path.join(dest_meta_dir, new_base + meta_ext)
+
+        if mask_src is not None:
+            mask_ext = os.path.splitext(mask_src)[1].lower()
+            dst_mask = os.path.join(dest_mask_dir, new_base + mask_ext)
+
+        # Copia/move preview selecionado
+        if copy_only:
+            shutil.copy2(caminho_preview_sel, dst_preview)
+        else:
+            shutil.move(caminho_preview_sel, dst_preview)
+
+        # Copia RAW e metas/masks (se existirem)
+        if copy_only:
+            shutil.copy2(raw_src, dst_raw)
+        else:
+            shutil.move(raw_src, dst_raw)
+
+        if meta_src is not None:
+            if copy_only:
+                shutil.copy2(meta_src, dst_meta)
+            else:
+                shutil.move(meta_src, dst_meta)
+
+        if mask_src is not None:
+            if copy_only:
+                shutil.copy2(mask_src, dst_mask)
+            else:
+                shutil.move(mask_src, dst_mask)
+
+        movidos += 1
+
+        registros.append([
+            base,
+            grupo,
+            cana,
+            horario,
+            caminho_preview_sel,
+            raw_src,
+            meta_src or "",
+            mask_src or "",
+            dst_preview,
+            dst_raw,
+            dst_meta or "",
+            dst_mask or "",
+        ])
+
+        print(f"[OK] {new_base} -> grupo={grupo} | cana={cana} | horario={horario}")
+
+    if manifesto_csv and registros:
+        with open(manifesto_csv, "w", newline="", encoding="utf-8") as f:
+            w = csv.writer(f)
+            w.writerow([
+                "base",
+                "grupo",
+                "cana",
+                "horario",
+                "src_preview_selected",
+                "src_raw",
+                "src_meta",
+                "src_mask",
+                "dst_preview",
+                "dst_raw",
+                "dst_meta",
+                "dst_mask",
+            ])
+            w.writerows(registros)
+        print(f"[MANIFESTO] {manifesto_csv} salvo ({len(registros)} entradas).")
+
+    print(f"\nResumo: total_selected={total} | organizadas={movidos} | ignoradas={ignorados}")
+
+
+# ================= CLI =================
+
+def build_cli():
+    ap = argparse.ArgumentParser(
+        description=(
+            "Organiza previews selecionadas (dataset/selected_previews) "
+            "descobrindo cana/horário/grupo em dataset/brutas e copiando/movendo "
+            "preview + raw + meta (+ mask se existir) para dataset/original/group/{GRUPO}."
+        )
+    )
+    ap.add_argument(
+        "--copy",
+        action="store_true",
+        help="Copia os previews em vez de mover (por padrão, move e esvazia selected_previews conforme organiza)."
+    )
+    ap.add_argument(
+        "--manifest",
+        default="",
+        help="Caminho para CSV de manifesto (opcional)."
+    )
+    return ap
+
+
+if __name__ == "__main__":
+    ap = build_cli()
+    args = ap.parse_args()
+
+    manifesto = args.manifest if args.manifest.strip() else None
+    copy_only = args.copy
+
+    print(f"[INFO] MODELO               : {MODELO}")
+    print(f"[INFO] Brutas root          : {PASTA_BRUTAS_ROOT}")
+    print(f"[INFO] Selected previews    : {PASTA_SELECTED_PREVIEWS}")
+    print(f"[INFO] Original group root  : {PASTA_ORIGINAL_GROUP_ROOT}")
+    print(f"[INFO] Copy only?           : {copy_only}")
+    print(f"[INFO] Manifesto            : {manifesto or '(nenhum)'}")
+    print()
+
+    organizar_selected_previews(copy_only=copy_only, manifesto_csv=manifesto)

Python/OAK/datasets/_4_group_images_by_class.py

@@ -25,7 +25,7 @@ import shutil
 import argparse
 import numpy as np
 
-from utils import carregar_labelmap_completo
+from utils import carregar_labelmap_completo, converter_mask_rgb_para_ids
 
 # ====================== Configurações base ======================
 
@@ -33,19 +33,22 @@ def carregar_config_e_paths():
     with open("config.json", "r", encoding="utf-8") as f:
         config = json.load(f)
     MODELO = config.get("camera")
+    USE_MASKS2 = config.get("dual_head", False)
     pasta_base = os.path.join(MODELO, "dataset")
     labelmap_path = os.path.join(pasta_base, "labelmap.txt")
 
     # Pastas origem/destino
     PASTA_NEW_IMAGES = os.path.join(pasta_base, "original", "images")
     PASTA_NEW_MASKS  = os.path.join(pasta_base, "original", "masks")
+    PASTA_NEW_MASKS2 = os.path.join(pasta_base, "original", "masks2")
     PASTA_FINAL      = os.path.join(pasta_base, "original", "group")
 
-    return MODELO, pasta_base, labelmap_path, PASTA_NEW_IMAGES, PASTA_NEW_MASKS, PASTA_FINAL
+    return MODELO, pasta_base, labelmap_path, PASTA_NEW_IMAGES, PASTA_NEW_MASKS, PASTA_NEW_MASKS2, USE_MASKS2, PASTA_FINAL
 
 # Extensões aceitas
 EXT_IMAGENS = (".jpg", ".jpeg", ".png")
 EXT_MASKS   = (".png", ".jpg", ".jpeg")  # prioridade será .png quando houver
+EXT_MASKS2  = (".png", ".jpg", ".jpeg")  # idem
 
 # Manifesto padrão
 MANIFESTO_DEFAULT = "manifest.csv"
@@ -84,6 +87,25 @@ def mapear_masks_por_base(pasta_masks):
                 mapa[base] = cam
     return mapa
 
+def mapear_masks2_por_base(pasta_masks2):
+    """Retorna {base: caminho_mask2}, priorizando .png se houver múltiplas por base."""
+    if not pasta_masks2 or not os.path.isdir(pasta_masks2):
+        return {}
+    mapa = {}
+    for nome in os.listdir(pasta_masks2):
+        lower = nome.lower()
+        if not lower.endswith(EXT_MASKS2):
+            continue
+        base, ext = os.path.splitext(nome)
+        cam = os.path.join(pasta_masks2, nome)
+        if base not in mapa:
+            mapa[base] = cam
+        else:
+            atual_ext = os.path.splitext(mapa[base])[1].lower()
+            if atual_ext != ".png" and ext.lower() == ".png":
+                mapa[base] = cam
+    return mapa
+
 def localizar_imagem_por_base(pasta_imgs, base):
     """Retorna caminho da imagem correspondente ao base se existir."""
     for ext in EXT_IMAGENS:
@@ -118,55 +140,70 @@ def inferir_ignore_id(ignore_rgb, cor_para_id):
 
 def extrair_ids_presentes(mask_path, cor_para_id, assume_rgb=True):
     """
-    Extrai IDs de classes presentes na máscara.
-    - Se a máscara for 1 canal: retorna valores únicos como IDs diretamente.
-    - Se for 3 canais: pega cores únicas (BGR), converte para RGB (se assume_rgb=True),
-      e mapeia usando cor_para_id[(R,G,B)] -> id.
+    Versão corrigida e otimizada:
+
+      - Se máscara for 1 canal: np.unique direto -> IDs.
+      - Se for 3 canais:
+          * se assume_rgb=True: labelmap está em RGB,
+            mas OpenCV lê BGR -> convertemos BGR -> RGB.
+          * se assume_rgb=False: labelmap está em BGR,
+            mantemos BGR como está.
+      - Usa converter_mask_rgb_para_ids em amostragem + fallback full-scan.
+
     Retorna: set(ids_presentes)
     """
     m = cv2.imread(mask_path, cv2.IMREAD_UNCHANGED)
     if m is None:
         raise RuntimeError(f"Falha ao abrir máscara: {mask_path}")
 
-    # grayscale / paleta indexada
+    # ---------------------------
+    # CASO 1: máscara indexada
+    # ---------------------------
     if len(m.shape) == 2 or (len(m.shape) == 3 and m.shape[2] == 1):
-        vals = np.unique(m).tolist()
+        vals = np.unique(m)
         return set(int(v) for v in vals)
 
-    # 3 canais (OpenCV lê BGR)
-    h, w, c = m.shape
-    flat = m.reshape(-1, 3)
-    uniq_bgr = np.unique(flat, axis=0)
-    ids = set()
-    for b, g, r in uniq_bgr:
-        if assume_rgb:
-            key = (int(r), int(g), int(b))  # converte para RGB
-        else:
-            key = (int(b), int(g), int(r))  # já em BGR no labelmap
-        id_ = cor_para_id.get(key)
-        if id_ is not None:
-            try:
-                ids.add(int(id_))
-            except Exception:
-                pass
+    # ---------------------------
+    # CASO 2: máscara RGB
+    # ---------------------------
+    # Se o labelmap está em RGB (assume_rgb=True),
+    # convertemos a imagem BGR->RGB para casar com as chaves.
+    if assume_rgb:
+        img = cv2.cvtColor(m, cv2.COLOR_BGR2RGB)
+    else:
+        # labelmap já está em BGR; OpenCV entrega BGR; deixa como está
+        img = m
+
+    # Aqui as chaves de cor_para_id estão no MESMO espaço de cor da imagem.
+    mapa_rgb = cor_para_id
+    max_classes = len(cor_para_id)
+
+    # ---------- AMOSTRAGEM RÁPIDA ----------
+    step = 8  # pode ajustar para 4 se quiser mais precisão
+    amostra = img[::step, ::step]
+    amostra_ids = converter_mask_rgb_para_ids(amostra, mapa_rgb, ignore_id=255)
+    ids = set(int(x) for x in np.unique(amostra_ids) if x != 255)
+
+    if len(ids) >= max_classes:
+        return ids
+
+    # ---------- FULL-SCAN (fallback) ----------
+    full_ids = converter_mask_rgb_para_ids(img, mapa_rgb, ignore_id=255)
+    ids = set(int(x) for x in np.unique(full_ids) if x != 255)
     return ids
 
 def montar_nome_grupo(ids_presentes, id_para_nome):
     """
-    Constrói o nome do grupo a partir dos nomes das classes dos IDs presentes.
-    Preferência de ordenação: chao < erva < cana; demais nomes em ordem alfabética.
+    Constrói o nome do grupo respeitando a ordem natural dos IDs do labelmap.
+    Ex: {0,1,2} -> chao_cana_obstaculo
     """
-    nomes = []
-    for cid in sorted(ids_presentes):
-        nome = id_para_nome.get(cid, str(cid))
-        nomes.append(nome)
+    #print(f"ids_presentes: {ids_presentes}")
+    if not ids_presentes:
+        return "sem_classe"
+    nomes = [id_para_nome.get(cid, str(cid)) for cid in sorted(ids_presentes)]
+    return "_".join(nomes)
 
-    # aplicar ordenação preferida quando disponíveis
-    prefer = {"chao": 0, "erva": 1, "cana": 2}
-    nomes = sorted(nomes, key=lambda n: (prefer.get(n, 99), n))
-    return "_".join(nomes) if nomes else "sem_classe"
-
-def copiar_ou_mover(img_src, mask_src, dest_img_dir, dest_mask_dir, mover=False):
+def copiar_ou_mover(img_src, mask_src, dest_img_dir, dest_mask_dir, mover=False, mask2_src=None, dest_mask2_dir=None):
     garantir_pasta(dest_img_dir)
     garantir_pasta(dest_mask_dir)
 
@@ -177,6 +214,7 @@ def copiar_ou_mover(img_src, mask_src, dest_img_dir, dest_mask_dir, mover=False)
     dst_img = nome_disponivel(dest_img_dir, base_img, img_ext)
     new_base = os.path.splitext(os.path.basename(dst_img))[0]
     dst_mask = os.path.join(dest_mask_dir, new_base + mask_ext)
+    dst_mask2 = None
 
     if os.path.exists(dst_mask):
         # evita colisão invertendo a ordem do "único" para a máscara
@@ -186,37 +224,54 @@ def copiar_ou_mover(img_src, mask_src, dest_img_dir, dest_mask_dir, mover=False)
         if os.path.exists(dst_img):
             dst_img = nome_disponivel(dest_img_dir, new_base, img_ext)
 
+    # se tiver mask2, usa o MESMO new_base final
+    if mask2_src and dest_mask2_dir:
+        garantir_pasta(dest_mask2_dir)
+        mask2_ext = os.path.splitext(mask2_src)[1].lower()
+        dst_mask2 = os.path.join(dest_mask2_dir, new_base + mask2_ext)
+        if os.path.exists(dst_mask2):
+            dst_mask2 = nome_disponivel(dest_mask2_dir, new_base, mask2_ext)
+
     if mover:
         shutil.move(img_src, dst_img)
         shutil.move(mask_src, dst_mask)
+        if mask2_src and dst_mask2:
+            shutil.move(mask2_src, dst_mask2)
     else:
         shutil.copy2(img_src, dst_img)
         shutil.copy2(mask_src, dst_mask)
+        if mask2_src and dst_mask2:
+            shutil.copy2(mask2_src, dst_mask2)
 
-    return dst_img, dst_mask
+    return dst_img, dst_mask, dst_mask2
 
 # ====================== Pipeline principal ======================
 
 def processar(modelo_cli=None, mover=False, manifesto=MANIFESTO_DEFAULT,
               validar_dim=True, estrito=False, labelmap_bgr=False):
     # carrega config/paths
-    MODELO, pasta_base, labelmap_path, PASTA_NEW_IMAGES, PASTA_NEW_MASKS, PASTA_FINAL = carregar_config_e_paths()
+    MODELO, pasta_base, labelmap_path, PASTA_NEW_IMAGES, PASTA_NEW_MASKS, PASTA_NEW_MASKS2, USE_MASKS2, PASTA_FINAL = carregar_config_e_paths()
 
     # carrega labelmap completo
     cor_para_id, _colormap_rgb, id_para_nome, ignore_rgb = carregar_labelmap_completo(labelmap_path)
     ignore_id = inferir_ignore_id(ignore_rgb, cor_para_id)
+    #print(f"cor_para_id: {cor_para_id}, _colormap_rgb: {_colormap_rgb}, id_para_nome: {id_para_nome}")
 
     # garante pastas
     garantir_pasta(PASTA_NEW_IMAGES)
     garantir_pasta(PASTA_NEW_MASKS)
     garantir_pasta(PASTA_FINAL)
+    usar_masks2 = USE_MASKS2 and os.path.isdir(PASTA_NEW_MASKS2)
+    if usar_masks2:
+        garantir_pasta(PASTA_NEW_MASKS2)
+        print(f"[INFO] masks2 detectada: {PASTA_NEW_MASKS2}")
 
     # indexa máscaras
     mapa_masks = mapear_masks_por_base(PASTA_NEW_MASKS)
+    mapa_masks2 = mapear_masks2_por_base(PASTA_NEW_MASKS2) if usar_masks2 else {}
 
     registros = []
-    totais = {"total_masks":0, "processados":0, "pulados":0, "sem_imagem":0,
-              "dim_mismatch":0, "erros":0}
+    totais = {"total_masks":0, "processados":0, "pulados":0, "sem_imagem":0, "sem_mask2":0, "dim_mismatch":0, "erros":0}
     por_grupo = {}
 
     for base, mask_path in sorted(mapa_masks.items()):
@@ -228,6 +283,11 @@ def processar(modelo_cli=None, mover=False, manifesto=MANIFESTO_DEFAULT,
             continue
 
         try:
+            mask2_path = mapa_masks2.get(base) if usar_masks2 else None
+            if usar_masks2 and not mask2_path:
+                totais["sem_mask2"] += 1
+                print(f"[AVISO] masks2 existe, mas não achei mask2 para base '{base}' (vou agrupar mesmo).")
+
             if validar_dim:
                 try:
                     img = cv2.imread(img_path, cv2.IMREAD_UNCHANGED)
@@ -245,6 +305,24 @@ def processar(modelo_cli=None, mover=False, manifesto=MANIFESTO_DEFAULT,
                             continue
                         else:
                             print(msg + "  → copiando mesmo assim.")
+
+                    if mask2_path:
+                        m2 = cv2.imread(mask2_path, cv2.IMREAD_UNCHANGED)
+                        if m2 is None:
+                            print(f"[AVISO] Falha ao abrir mask2: {mask2_path}  → ignorando mask2.")
+                            mask2_path = None
+                        else:
+                            h2, w2 = m2.shape[:2]
+                            if (hi, wi) != (h2, w2):
+                                totais["dim_mismatch"] += 1
+                                msg2 = f"[AVISO] Dimensões diferem (img {wi}x{hi} vs mask2 {w2}x{h2}) para base '{base}'"
+                                if estrito:
+                                    print(msg2 + "  → pulando (por mask2).")
+                                    totais["pulados"] += 1
+                                    continue
+                                else:
+                                    print(msg2 + "  → copiando mesmo assim.")
+
                 except Exception as e_dim:
                     print(f"[AVISO] Falha ao validar dimensões: {e_dim}  → copiando mesmo assim.")
 
@@ -260,14 +338,17 @@ def processar(modelo_cli=None, mover=False, manifesto=MANIFESTO_DEFAULT,
             dest_base = os.path.join(PASTA_FINAL, grupo)
             dest_img_dir  = os.path.join(dest_base, "images")
             dest_mask_dir = os.path.join(dest_base, "masks")
+            dest_mask2_dir = os.path.join(dest_base, "masks2") if usar_masks2 else None
 
-            dst_img, dst_mask = copiar_ou_mover(img_path, mask_path, dest_img_dir, dest_mask_dir, mover=mover)
+            dst_img, dst_mask, dst_mask2 = copiar_ou_mover(img_path, mask_path, dest_img_dir, dest_mask_dir, mover=mover, mask2_src=mask2_path, dest_mask2_dir=dest_mask2_dir)
 
             totais["processados"] += 1
-            registros.append([img_path, mask_path, dst_img, dst_mask, grupo])
+            registros.append([img_path, mask_path, mask2_path or "", dst_img, dst_mask, dst_mask2 or "", grupo])
             por_grupo[grupo] = por_grupo.get(grupo, 0) + 1
 
             print(f"[OK] {os.path.basename(dst_img)}  → grupo: {grupo}")
+            extra = " +mask2" if dst_mask2 else ""
+            print(f"[OK] {os.path.basename(dst_img)}{extra}  → grupo: {grupo}")
 
         except Exception as e:
             totais["erros"] += 1
@@ -277,7 +358,7 @@ def processar(modelo_cli=None, mover=False, manifesto=MANIFESTO_DEFAULT,
     if manifesto and registros:
         with open(manifesto, "w", newline="", encoding="utf-8") as f:
             w = csv.writer(f)
-            w.writerow(["src_image", "src_mask", "dst_image", "dst_mask", "grupo"])
+            w.writerow(["src_image", "src_mask", "src_mask2", "dst_image", "dst_mask", "dst_mask2", "grupo"])
             w.writerows(registros)
         print(f"[MANIFESTO] {manifesto} salvo ({len(registros)} entradas).")
 

Python/OAK/datasets/_4_group_images_by_class_raw.py

@@ -49,11 +49,16 @@ MANIFESTO_DEFAULT = "manifest.csv"
 def extrair_ids_presentes(mask_path, cor_para_id, assume_rgb=True):
     """
     Extração ultra-rápida de IDs presentes na máscara.
+
     Estratégia:
-      1) Tenta máscara 1 canal → np.unique (instrantâneo)
-      2) Amostragem em grid → converter_mask_rgb_para_ids → unique
-      3) Early exit quando todas classes forem encontradas
-      4) Fallback full-scan apenas se necessário (raríssimo)
+      1) Máscara 1 canal → np.unique (instantâneo).
+      2) Máscara 3 canais:
+         - se assume_rgb=True: labelmap está em RGB,
+           convertemos a imagem BGR -> RGB para casar com cor_para_id.
+         - se assume_rgb=False: labelmap está em BGR,
+           mantemos a imagem em BGR.
+      3) Amostragem em grid + converter_mask_rgb_para_ids.
+      4) Fallback full-scan se necessário.
     """
     m = cv2.imread(mask_path, cv2.IMREAD_UNCHANGED)
     if m is None:
@@ -63,39 +68,34 @@ def extrair_ids_presentes(mask_path, cor_para_id, assume_rgb=True):
     # CASO 1: máscara indexada (1 canal) — instantâneo
     # -------------------------------------------------------
     if len(m.shape) == 2 or (len(m.shape) == 3 and m.shape[2] == 1):
-        ids = np.unique(m).tolist()
+        ids = np.unique(m)
         return set(int(v) for v in ids)
 
     # -------------------------------------------------------
-    # CASO 2: máscara RGB — LUT + amostragem
+    # CASO 2: máscara RGB
     # -------------------------------------------------------
-    h, w, _ = m.shape
-
-    # monta LUT RGB->ID
-    # assume_rgb=True => cor=(R,G,B)
     if assume_rgb:
-        mapa_rgb = {cor: cid for cor, cid in cor_para_id.items()}
+        # Labelmap em RGB, OpenCV em BGR -> converte
+        img = cv2.cvtColor(m, cv2.COLOR_BGR2RGB)
     else:
-        mapa_rgb = {(b, g, r): cid for (r, g, b), cid in cor_para_id.items()}
+        # Labelmap em BGR, OpenCV já em BGR -> usa direto
+        img = m
 
+    # Agora cor_para_id e img estão no MESMO espaço de cor
+    mapa_rgb = cor_para_id
     max_classes = len(cor_para_id)
 
     # ---------- AMOSTRAGEM ----------
-    step = 8
-    amostra = m[::step, ::step]  # reduz drasticamente o custo
+    step = 8  # pode virar 4 se quiser mais precisão, 16 se quiser mais velocidade
+    amostra = img[::step, ::step]
     amostra_ids = converter_mask_rgb_para_ids(amostra, mapa_rgb, ignore_id=255)
     ids = set(int(x) for x in np.unique(amostra_ids) if x != 255)
 
-    if len(ids) == max_classes:
-        return ids
-
-    # ---------- EARLY EXIT ----------
-    # Se já veio todas as classes possíveis, não precisamos do full-scan
     if len(ids) >= max_classes:
         return ids
 
     # ---------- FULL-SCAN OTIMIZADO (último caso) ----------
-    full_ids = converter_mask_rgb_para_ids(m, mapa_rgb, ignore_id=255)
+    full_ids = converter_mask_rgb_para_ids(img, mapa_rgb, ignore_id=255)
     ids = set(int(x) for x in np.unique(full_ids) if x != 255)
     return ids
 
@@ -146,10 +146,14 @@ def inferir_ignore_id(ignore_rgb, cor_para_id):
     return None
 
 def montar_nome_grupo(ids_presentes, id_para_nome):
+    """
+    Constrói o nome do grupo respeitando a ordem natural dos IDs do labelmap.
+    Ex: {0,1,2} -> chao_cana_obstaculo
+    """
+    if not ids_presentes:
+        return "sem_classe"
     nomes = [id_para_nome.get(cid, str(cid)) for cid in sorted(ids_presentes)]
-    prefer = {"chao": 0, "erva": 1, "cana": 2}
-    nomes = sorted(nomes, key=lambda n: (prefer.get(n, 99), n))
-    return "_".join(nomes) if nomes else "sem_classe"
+    return "_".join(nomes)
 
 
 # ============================================================

Python/OAK/datasets/_5_augmentation.py

@@ -32,6 +32,7 @@ import argparse
 with open("config.json", "r", encoding="utf-8") as f:
     config = json.load(f)
 MODELO = config.get("camera", ".")
+USE_MASKS2 = config.get("dual_head", False)
 
 # Pastas base
 DATASET_BASE = os.path.join(MODELO, "dataset")
@@ -41,12 +42,15 @@ AUG_GROUP_ROOT  = os.path.join(DATASET_BASE, "augmented", "group")
 # Fallback (modo antigo, sem grupos)
 ORIG_OLD_IMG = os.path.join(DATASET_BASE, "original", "images")
 ORIG_OLD_MSK = os.path.join(DATASET_BASE, "original", "masks")
+ORIG_OLD_MSK2 = os.path.join(DATASET_BASE, "original", "masks2")
 AUG_OLD_IMG  = os.path.join(DATASET_BASE, "augmented", "images")
 AUG_OLD_MSK  = os.path.join(DATASET_BASE, "augmented", "masks")
+AUG_OLD_MSK2 = os.path.join(DATASET_BASE, "augmented", "masks2")
 
 # Extensões aceitas
 IMG_EXTS = (".jpg", ".jpeg", ".png")
 MSK_EXTS = (".png", ".jpg", ".jpeg")  # manter prioridade PNG quando possível
+MSK2_EXTS = (".png", ".jpg", ".jpeg")
 
 def garantir_dir(p):
     os.makedirs(p, exist_ok=True)
@@ -86,7 +90,9 @@ train_tf = A.Compose([
     A.RandomSunFlare(p=0.10),
     A.ChannelShuffle(p=0.05),
     A.CoarseDropout(max_holes=6, max_height=16, max_width=16, p=0.10),
-], additional_targets={'mask':'mask'})
+], additional_targets={
+    'mask2': 'mask'
+})
 
 def load_rgb(path):
     # cv2 lê BGR → converte para RGB
@@ -131,31 +137,60 @@ def map_masks_by_base(msk_dir):
                 by_base[base] = cand
     return by_base
 
-def ensure_aug_dirs(group_name=None):
-    """Cria diretórios de saída para o grupo ou modo antigo."""
+def map_masks2_by_base(msk2_dir):
+    """Mapeia máscaras2 por base (prioriza .png)."""
+    by_base = {}
+    if not os.path.isdir(msk2_dir):
+        return by_base
+    for fname in os.listdir(msk2_dir):
+        f_lower = fname.lower()
+        if not f_lower.endswith(MSK2_EXTS):
+            continue
+        base, ext = os.path.splitext(fname)
+        cand = os.path.join(msk2_dir, fname)
+        if base not in by_base:
+            by_base[base] = cand
+        else:
+            cur_ext = os.path.splitext(by_base[base])[1].lower()
+            if cur_ext != ".png" and ext.lower() == ".png":
+                by_base[base] = cand
+    return by_base
+
+def ensure_aug_dirs(group_name=None, use_masks2=False):
+    """Cria diretórios de saída para o grupo ou modo antigo. Se use_masks2, cria masks2."""
     if group_name:
         img_out = os.path.join(AUG_GROUP_ROOT, group_name, "images")
         msk_out = os.path.join(AUG_GROUP_ROOT, group_name, "masks")
+        msk2_out = os.path.join(AUG_GROUP_ROOT, group_name, "masks2") if use_masks2 else None
     else:
         img_out = AUG_OLD_IMG
         msk_out = AUG_OLD_MSK
+        msk2_out = AUG_OLD_MSK2 if use_masks2 else None
     garantir_dir(img_out)
     garantir_dir(msk_out)
-    return img_out, msk_out
+    if use_masks2 and msk2_out:
+        garantir_dir(msk2_out)
+    return img_out, msk_out, msk2_out
 
-def augment_pair(img_path, msk_path, img_out_dir, msk_out_dir, copies):
+def augment_pair(img_path, msk_path, img_out_dir, msk_out_dir, copies, msk2_path=None, msk2_out_dir=None):
     base_img, img_ext = os.path.splitext(os.path.basename(img_path))
     base_msk, msk_ext = os.path.splitext(os.path.basename(msk_path))
+    msk2_ext = os.path.splitext(os.path.basename(msk2_path))[1] if msk2_path else None
 
     # padroniza pelo base da imagem
     base = base_img
 
     img = load_rgb(img_path)
     msk = load_rgb(msk_path)
+    msk2 = load_rgb(msk2_path) if msk2_path else None
 
     gen = 0
     for i in range(copies):
-        aug = train_tf(image=img, mask=msk)
+        if msk2 is not None and msk2_out_dir:
+            aug = train_tf(image=img, mask=msk, mask2=msk2)
+        else:
+            aug = train_tf(image=img, mask=msk)
+
         img_aug = aug["image"]
         msk_aug = aug["mask"]
 
@@ -163,6 +198,12 @@ def augment_pair(img_path, msk_path, img_out_dir, msk_out_dir, copies):
         out_msk = os.path.join(msk_out_dir, f"{base}_aug_{i:02d}{msk_ext}")
         save_rgb(out_img, img_aug)
         save_rgb(out_msk, msk_aug)
+
+        if msk2 is not None and msk2_out_dir:
+            msk2_aug = aug["mask2"]
+            out_msk2 = os.path.join(msk2_out_dir, f"{base}_aug_{i:02d}{msk2_ext}")
+            save_rgb(out_msk2, msk2_aug)
+
         gen += 1
     return gen
 
@@ -170,13 +211,16 @@ def process_group(group_name, copies):
     """Processa um grupo único (images/masks dentro de ORIG_GROUP_ROOT/<group_name>/)."""
     img_dir = os.path.join(ORIG_GROUP_ROOT, group_name, "images")
     msk_dir = os.path.join(ORIG_GROUP_ROOT, group_name, "masks")
+    msk2_dir = os.path.join(ORIG_GROUP_ROOT, group_name, "masks2")
     if not (os.path.isdir(img_dir) and os.path.isdir(msk_dir)):
         print(f"[WARN] Grupo '{group_name}' inválido (sem images/masks). Pulando.")
         return 0
 
     imgs = [f for f in os.listdir(img_dir) if os.path.splitext(f.lower())[1] in IMG_EXTS]
     msk_map = map_masks_by_base(msk_dir)
-    img_out_dir, msk_out_dir = ensure_aug_dirs(group_name)
+    use_masks2 = USE_MASKS2 and os.path.isdir(msk2_dir)
+    msk2_map = map_masks2_by_base(msk2_dir) if use_masks2 else {}
+    img_out_dir, msk_out_dir, msk2_out_dir = ensure_aug_dirs(group_name, use_masks2=use_masks2)
 
     count = 0
     for img_file in sorted(imgs):
@@ -185,13 +229,18 @@ def process_group(group_name, copies):
         if not msk_file:
             print(f"[WARN] [{group_name}] Máscara não encontrada para {img_file}, pulando.")
             continue
+        msk2_file = msk2_map.get(base) if use_masks2 else None
+        if use_masks2 and not msk2_file:
+            print(f"[WARN] [{group_name}] mask2 não encontrada para {img_file}, gerando só img+mask.")
         try:
             count += augment_pair(
                 os.path.join(img_dir, img_file),
                 msk_file,
                 img_out_dir,
                 msk_out_dir,
-                copies=copies
+                copies=copies,
+                msk2_path=msk2_file,
+                msk2_out_dir=msk2_out_dir
             )
         except Exception as e:
             print(f"[ERRO] [{group_name}] {img_file}: {e}")
@@ -206,7 +255,9 @@ def process_legacy(copies):
 
     imgs = [f for f in os.listdir(ORIG_OLD_IMG) if os.path.splitext(f.lower())[1] in IMG_EXTS]
     msk_map = map_masks_by_base(ORIG_OLD_MSK)
-    img_out_dir, msk_out_dir = ensure_aug_dirs(group_name=None)
+    use_masks2 = USE_MASKS2 and os.path.isdir(ORIG_OLD_MSK2)
+    msk2_map = map_masks2_by_base(ORIG_OLD_MSK2) if use_masks2 else {}
+    img_out_dir, msk_out_dir, msk2_out_dir = ensure_aug_dirs(group_name=None, use_masks2=use_masks2)
 
     count = 0
     for img_file in sorted(imgs):
@@ -215,13 +266,18 @@ def process_legacy(copies):
         if not msk_file:
             print(f"[WARN] (legacy) Máscara não encontrada para {img_file}, pulando.")
             continue
+        msk2_file = msk2_map.get(base) if use_masks2 else None
+        if use_masks2 and not msk2_file:
+            print(f"[WARN] (legacy) mask2 não encontrada para {img_file}, gerando só img+mask.")
         try:
             count += augment_pair(
                 os.path.join(ORIG_OLD_IMG, img_file),
                 msk_file,
                 img_out_dir,
                 msk_out_dir,
-                copies=copies
+                copies=copies,
+                msk2_path=msk2_file,
+                msk2_out_dir=msk2_out_dir
             )
         except Exception as e:
             print(f"[ERRO] (legacy) {img_file}: {e}")

Python/OAK/datasets/_6_normalize.py

@@ -28,6 +28,7 @@ from utils import carregar_labelmap_completo, converter_mask_rgb_para_ids
 with open("config.json", "r", encoding="utf-8") as f:
     config = json.load(f)
 MODELO = config["camera"]
+USE_MASKS2 = config["dual_head"]
 RESOLUCAO = tuple(config["resolucao"])  # [W, H] ou [width, height]
 pasta_base = os.path.join(MODELO, "dataset")
 labelmap_path = os.path.join(pasta_base, "labelmap.txt")
@@ -43,6 +44,7 @@ FONTES = ["original", "augmented"]
 # Extensões aceitas
 IMG_EXTS = (".jpg", ".jpeg", ".png")
 MSK_EXTS = (".png", ".jpg", ".jpeg")  # preferir .png
+MSK2_EXTS = (".png", ".jpg", ".jpeg")  # idem
 
 def infer_ignore_id(ignore_rgb, default_id=255):
     """
@@ -98,6 +100,25 @@ def map_masks_by_base(msk_dir: str) -> Dict[str, str]:
                 by_base[base] = cand
     return by_base
 
+def map_masks2_by_base(msk2_dir: str) -> Dict[str, str]:
+    """Retorna {base: caminho_mask2}, priorizando .png quando houver múltiplas por base."""
+    by_base = {}
+    if not os.path.isdir(msk2_dir):
+        return by_base
+    for fname in os.listdir(msk2_dir):
+        f_lower = fname.lower()
+        if not f_lower.endswith(MSK2_EXTS):
+            continue
+        base, ext = os.path.splitext(fname)
+        cand = os.path.join(msk2_dir, fname)
+        if base not in by_base:
+            by_base[base] = cand
+        else:
+            cur_ext = os.path.splitext(by_base[base])[1].lower()
+            if cur_ext != ".png" and ext.lower() == ".png":
+                by_base[base] = cand
+    return by_base
+
 def normalize_pair(caminho_rgb: str, caminho_mask: str, cor_para_id, ignore_id: int,
                    out_img_dir: str, out_msk_dir: str, dim: Tuple[int,int], prefix: str = ""):
     """Redimensiona e grava a imagem e a máscara (se houver)."""
@@ -137,6 +158,43 @@ def normalize_pair(caminho_rgb: str, caminho_mask: str, cor_para_id, ignore_id:
 
     return True
 
+def normalize_pair_mask2(caminho_rgb: str, caminho_mask2: str,
+                         out_msk2_dir: str, dim: Tuple[int,int], prefix: str = ""):
+    """
+    Redimensiona e grava máscara2 (corredor binário), assumindo que ela já é uma máscara "pronta".
+    - Se for RGB/BGR (3 canais): converte para cinza e faz threshold (0/255) antes de redimensionar.
+    - Se for 1 canal: mantém, faz threshold (0/255).
+    - Redimensiona com INTER_NEAREST.
+    Saída sempre .png com o mesmo nome base/prefixo do arquivo de imagem.
+    """
+    if not caminho_mask2 or not os.path.isfile(caminho_mask2):
+        return False
+
+    nome = os.path.basename(caminho_rgb)
+    nome_saida = f"{prefix}{nome}" if prefix else nome
+    for ext in (".jpg", ".jpeg", ".png"):
+        if nome_saida.lower().endswith(ext):
+            nome_saida = nome_saida[: -len(ext)] + ".png"
+            break
+
+    m2 = cv2.imread(caminho_mask2, cv2.IMREAD_UNCHANGED)
+    if m2 is None:
+        print(f"[!] Erro ao ler máscara2: {caminho_mask2}")
+        return False
+
+    if len(m2.shape) == 3:
+        # BGR/RGB -> gray
+        m2g = cv2.cvtColor(m2, cv2.COLOR_BGR2GRAY)
+    else:
+        m2g = m2
+
+    # binariza para 0/255 (evita lixo de compressão)
+    _, m2bin = cv2.threshold(m2g, 127, 255, cv2.THRESH_BINARY)
+    m2res = cv2.resize(m2bin, dim, interpolation=cv2.INTER_NEAREST)
+    garantir_dir(out_msk2_dir)
+    cv2.imwrite(os.path.join(out_msk2_dir, nome_saida), m2res)
+    return True
+
 def process_group_root(fonte_root: str, fonte_nome: str, cor_para_id, ignore_id: int, groups_except: str = None):
     """Processa uma raiz do tipo .../<fonte>/group/ agrupando por cada subpasta de grupo."""
     total = 0
@@ -155,13 +213,17 @@ def process_group_root(fonte_root: str, fonte_nome: str, cor_para_id, ignore_id:
                 continue
             in_img_dir = os.path.join(fonte_root, grupo, "images")
             in_msk_dir = os.path.join(fonte_root, grupo, "masks")
+            in_msk2_dir = os.path.join(fonte_root, grupo, "masks2")
             if not (os.path.isdir(in_img_dir) and os.path.isdir(in_msk_dir)):
                 print(f"[WARN] Grupo inválido (sem images/masks): {grupo}")
                 continue
 
             out_img_dir = os.path.join(out_root, grupo, "images")
             out_msk_dir = os.path.join(out_root, grupo, "masks")
+            usar_masks2 = USE_MASKS2 and os.path.isdir(in_msk2_dir)
+            out_msk2_dir = os.path.join(out_root, grupo, "masks2") if usar_masks2 else None
             msk_map = map_masks_by_base(in_msk_dir)
+            msk2_map = map_masks2_by_base(in_msk2_dir) if usar_masks2 else {}
 
             imgs = [f for f in os.listdir(in_img_dir) if os.path.splitext(f.lower())[1] in IMG_EXTS]
             n = len(imgs)
@@ -169,10 +231,19 @@ def process_group_root(fonte_root: str, fonte_nome: str, cor_para_id, ignore_id:
                 base, _ = os.path.splitext(fname)
                 caminho_rgb = os.path.join(in_img_dir, fname)
                 caminho_mask = msk_map.get(base)
+                caminho_mask2 = msk2_map.get(base) if usar_masks2 else None
                 ok = normalize_pair(
                     caminho_rgb, caminho_mask, cor_para_id, ignore_id,
                     out_img_dir, out_msk_dir, dim, prefix=f"{fonte_nome}_"
                 )
+                if usar_masks2 and out_msk2_dir:
+                    if not caminho_mask2:
+                        print(f"[WARN] [{fonte_nome} | {grupo}] masks2 existe, mas não achei mask2 p/ {fname} (vou seguir).")
+                    else:
+                        normalize_pair_mask2(
+                            caminho_rgb, caminho_mask2,
+                            out_msk2_dir, dim, prefix=f"{fonte_nome}_"
+                        )
                 if ok:
                     total += 1
                 print(f"[{fonte_nome} | {grupo} | {nome_res}] {i}/{n} → {fname}")
@@ -187,18 +258,31 @@ def process_legacy_root(legacy_img: str, legacy_msk: str, fonte_nome: str, cor_p
     for nome_res, dim in RESOLUCOES.items():
         out_img_dir = os.path.join(pasta_base, nome_res, "images")
         out_msk_dir = os.path.join(pasta_base, nome_res, "masks")
+        legacy_msk2 = os.path.join(os.path.dirname(legacy_msk), "masks2")
+        usar_masks2 = USE_MASKS2 and os.path.isdir(legacy_msk2)
+        out_msk2_dir = os.path.join(pasta_base, nome_res, "masks2") if usar_masks2 else None
 
         msk_map = map_masks_by_base(legacy_msk)
+        msk2_map = map_masks2_by_base(legacy_msk2) if usar_masks2 else {}
         imgs = [f for f in os.listdir(legacy_img) if os.path.splitext(f.lower())[1] in IMG_EXTS]
         n = len(imgs)
         for i, fname in enumerate(sorted(imgs), 1):
             base, _ = os.path.splitext(fname)
             caminho_rgb = os.path.join(legacy_img, fname)
             caminho_mask = msk_map.get(base)
+            caminho_mask2 = msk2_map.get(base) if usar_masks2 else None
             ok = normalize_pair(
                 caminho_rgb, caminho_mask, cor_para_id, ignore_id,
                 out_img_dir, out_msk_dir, dim, prefix=f"{fonte_nome}_"
             )
+            if usar_masks2 and out_msk2_dir:
+                if not caminho_mask2:
+                    print(f"[WARN] [{fonte_nome} | legacy] masks2 existe, mas não achei mask2 p/ {fname} (vou seguir).")
+                else:
+                    normalize_pair_mask2(
+                        caminho_rgb, caminho_mask2,
+                        out_msk2_dir, dim, prefix=f"{fonte_nome}_"
+                    )
             if ok:
                 total += 1
             print(f"[{fonte_nome} | legacy | {nome_res}] {i}/{n} → {fname}")
@@ -209,6 +293,7 @@ def main(args):
     # Espera tupla na ordem: (cor_para_id, colormap_rgb, id_para_nome, ignore_rgb)
     cor_para_id, _colormap_rgb, _id_para_nome, ignore_rgb = carregar_labelmap_completo(labelmap_path)
     ignore_id = infer_ignore_id(ignore_rgb, default_id=255)
+    print(cor_para_id, _colormap_rgb, _id_para_nome)
 
     total_geral = 0
     # === ORIGINAL ===

Python/OAK/datasets/_7_split.py

@@ -36,6 +36,7 @@ import argparse
 with open("config.json", "r", encoding="utf-8") as f:
     config = json.load(f)
 MODELO = config.get("camera")
+USE_MASKS2 = config.get("dual_head", False)
 RESOLUCAO = tuple(config.get("resolucao"))
 
 # Pastas
@@ -77,6 +78,10 @@ def mask_from_image_name(img_name):
     base, _ = os.path.splitext(img_name)
     return base + MSK_EXT
 
+def mask2_from_image_name(img_name):
+    base, _ = os.path.splitext(img_name)
+    return base + MSK_EXT  # masks2 também normalizadas em PNG no normalize
+
 def classify_source_and_family(filename_no_ext):
     """
     Retorna (source, family_key)
@@ -193,8 +198,11 @@ def allocate_counts(n, p_train, p_val, p_test, min_train, min_val, min_test):
 
     return n_train, n_val, n_test
 
-def copiar(nomes, src_img_dir, src_msk_dir, dst_img_dir, dst_msk_dir):
+def copiar(nomes, src_img_dir, src_msk_dir, dst_img_dir, dst_msk_dir, src_msk2_dir=None, dst_msk2_dir=None):
     garantir(dst_img_dir); garantir(dst_msk_dir)
+    use_msk2 = bool(src_msk2_dir and dst_msk2_dir and os.path.isdir(src_msk2_dir))
+    if use_msk2:
+        garantir(dst_msk2_dir)
     moved = 0
     for nome in nomes:
         mask_name = mask_from_image_name(nome)
@@ -204,12 +212,19 @@ def copiar(nomes, src_img_dir, src_msk_dir, dst_img_dir, dst_msk_dir):
             continue
         shutil.copy2(src_img, os.path.join(dst_img_dir, nome))
         shutil.copy2(src_msk, os.path.join(dst_msk_dir, mask_name))
+        if use_msk2:
+            m2_name = mask2_from_image_name(nome)
+            src_m2 = os.path.join(src_msk2_dir, m2_name)
+            if os.path.exists(src_m2):
+                shutil.copy2(src_m2, os.path.join(dst_msk2_dir, m2_name))
         moved += 1
     return moved
 
 def split_group(group_name, p_train, p_val, p_test, seed, mins, caps_map=None):
     src_img_dir = os.path.join(pasta_origem, group_name, "images")
     src_msk_dir = os.path.join(pasta_origem, group_name, "masks")
+    src_msk2_dir = os.path.join(pasta_origem, group_name, "masks2")
+    use_msk2 = USE_MASKS2 and os.path.isdir(src_msk2_dir)
 
     familias = build_family_index(src_img_dir, src_msk_dir)
     # apenas famílias que têm ORIGINAL para participar de val/test
@@ -272,9 +287,13 @@ def split_group(group_name, p_train, p_val, p_test, seed, mins, caps_map=None):
     dest_test_img  = os.path.join(pasta_destino, "test",  "group", group_name, "images")
     dest_test_msk  = os.path.join(pasta_destino, "test",  "group", group_name, "masks")
 
-    m_train = copiar(nomes_train, src_img_dir, src_msk_dir, dest_train_img, dest_train_msk)
-    m_val   = copiar(nomes_val,   src_img_dir, src_msk_dir, dest_val_img,   dest_val_msk)
-    m_test  = copiar(nomes_test,  src_img_dir, src_msk_dir, dest_test_img,  dest_test_msk)
+    dest_train_msk2 = os.path.join(pasta_destino, "train", "group", group_name, "masks2") if use_msk2 else None
+    dest_val_msk2   = os.path.join(pasta_destino, "val",   "group", group_name, "masks2") if use_msk2 else None
+    dest_test_msk2  = os.path.join(pasta_destino, "test",  "group", group_name, "masks2") if use_msk2 else None
+
+    m_train = copiar(nomes_train, src_img_dir, src_msk_dir, dest_train_img, dest_train_msk, src_msk2_dir, dest_train_msk2)
+    m_val   = copiar(nomes_val,   src_img_dir, src_msk_dir, dest_val_img,   dest_val_msk,   src_msk2_dir, dest_val_msk2)
+    m_test  = copiar(nomes_test,  src_img_dir, src_msk_dir, dest_test_img,  dest_test_msk,  src_msk2_dir, dest_test_msk2)
 
     print(f"[{group_name}] famílias={total_familias}  →  train(imgs)={m_train}, val(imgs)={m_val}, test(imgs)={m_test}")
     return {"train": m_train, "val": m_val, "test": m_test, "familias": total_familias}

Python/OAK/datasets/_8_train_segformer_b3.py

@@ -0,0 +1,481 @@
+#python _8_train_segformer_b3.py --epochs 110 --batch 2 --lr 3e-5 --wd 0.01 --num_workers 4 --amp --amp_val --grad_accum 2 --class_weights auto --main_class navegavel --resume
+
+# _8_train_segformer_b3.py  (PATCH)
+import os
+
+# (Opcional) ajuda com fragmentação em algumas máquinas.
+# Idealmente isso deveria vir ANTES de importar torch, mas já ajuda quando setado fora também.
+os.environ.setdefault("PYTORCH_CUDA_ALLOC_CONF", "max_split_size_mb:128")
+
+import json
+import math
+import time
+import argparse
+from typing import Dict, List, Optional, Tuple, Any
+
+import numpy as np
+import torch
+import torch.nn as nn
+from torch.utils.data import DataLoader
+
+# >>> troque AMP deprecated
+from torch.amp import autocast, GradScaler
+
+from transformers import SegformerForSemanticSegmentation
+
+# >>>>>>>>> AJUSTE AQUI <<<<<<<<<
+from _8_train_fastscnn_v2 import ROISegDataset  # troque se necessário
+
+
+def set_seed(seed: int = 42):
+    import random
+    random.seed(seed)
+    np.random.seed(seed)
+    torch.manual_seed(seed)
+    torch.cuda.manual_seed_all(seed)
+
+
+def _ids_by_names(class_names: Any, wanted_names: List[str]) -> List[int]:
+    if class_names is None:
+        return []
+    wanted_names = [str(x).lower() for x in wanted_names]
+
+    if isinstance(class_names, list):
+        low = [c.lower() for c in class_names]
+        return [low.index(n) for n in wanted_names if n in low]
+
+    if isinstance(class_names, dict):
+        if all(isinstance(k, int) for k in class_names.keys()):
+            inv = {str(v).lower(): int(k) for k, v in class_names.items()}
+            return [inv[n] for n in wanted_names if n in inv]
+        inv = {str(k).lower(): int(v) for k, v in class_names.items()}
+        return [inv[n] for n in wanted_names if n in inv]
+
+    return []
+
+
+@torch.no_grad()
+def update_confusion_matrix(cm: torch.Tensor, preds: torch.Tensor, labels: torch.Tensor, num_classes: int, ignore_index: int = 255):
+    preds = preds.view(-1)
+    labels = labels.view(-1)
+
+    valid = labels != ignore_index
+    preds = preds[valid]
+    labels = labels[valid]
+
+    idx = labels * num_classes + preds
+    bins = torch.bincount(idx, minlength=num_classes * num_classes)
+    cm += bins.view(num_classes, num_classes)
+
+
+@torch.no_grad()
+def compute_iou_from_cm(cm: torch.Tensor, eps: float = 1e-6) -> Tuple[float, List[float]]:
+    cm = cm.float()
+    tp = torch.diag(cm)
+    fp = cm.sum(0) - tp
+    fn = cm.sum(1) - tp
+    denom = tp + fp + fn + eps
+    iou = (tp / denom).cpu().tolist()
+    miou = float(np.mean(iou))
+    return miou, iou
+
+
+@torch.no_grad()
+def compute_pixel_acc_from_cm(cm: torch.Tensor, eps: float = 1e-6) -> float:
+    cm = cm.float()
+    acc = (torch.diag(cm).sum() / (cm.sum() + eps)).item()
+    return acc
+
+
+IMAGENET_MEAN = torch.tensor([0.485, 0.456, 0.406]).view(3, 1, 1)
+IMAGENET_STD  = torch.tensor([0.229, 0.224, 0.225]).view(3, 1, 1)
+def normalize_img(img: torch.Tensor) -> torch.Tensor:
+    return (img - IMAGENET_MEAN.to(img.device)) / IMAGENET_STD.to(img.device)
+
+
+def default_collate(batch):
+    imgs = []
+    masks = []
+    for item in batch:
+        if isinstance(item, dict):
+            img = item["image"]
+            mask = item["mask"]
+        else:
+            img, mask = item
+
+        if isinstance(img, np.ndarray):
+            img = torch.from_numpy(img)
+        if isinstance(mask, np.ndarray):
+            mask = torch.from_numpy(mask)
+
+        if img.ndim == 3 and img.shape[-1] == 3:
+            img = img.permute(2, 0, 1)
+
+        if img.dtype != torch.float32:
+            img = img.float()
+            if img.max() > 1.5:
+                img = img / 255.0
+
+        imgs.append(img)
+        masks.append(mask.long())
+
+    return torch.stack(imgs, 0), torch.stack(masks, 0)
+
+
+def estimate_class_weights(ds: ROISegDataset, num_classes: int, ignore_index: int = 255, max_samples: int = 800) -> torch.Tensor:
+    n = min(len(ds), max_samples)
+    idxs = np.random.choice(len(ds), size=n, replace=False)
+
+    counts = np.zeros(num_classes, dtype=np.float64)
+    for i in idxs:
+        item = ds[i]
+        mask = item["mask"] if isinstance(item, dict) else item[1]
+        m = mask.cpu().numpy() if isinstance(mask, torch.Tensor) else np.array(mask)
+
+        m = m.reshape(-1)
+        m = m[m != ignore_index]
+        if m.size == 0:
+            continue
+
+        counts += np.bincount(m, minlength=num_classes)[:num_classes]
+
+    freq = counts / (counts.sum() + 1e-12)
+    freq = np.clip(freq, 1e-12, 1.0)
+    weights = 1.0 / np.log(1.02 + freq)
+    weights = weights / weights.mean()
+    return torch.tensor(weights, dtype=torch.float32)
+
+
+def save_checkpoint(path: str,
+                    model: nn.Module,
+                    optimizer: torch.optim.Optimizer,
+                    scaler: Optional[GradScaler],
+                    epoch: int,
+                    best_miou: float,
+                    best_main_iou: float,
+                    extra: Optional[Dict[str, Any]] = None):
+    ckpt = {
+        "epoch": epoch,
+        "model": model.state_dict(),
+        "optimizer": optimizer.state_dict(),
+        "best_miou": best_miou,
+        "best_main_iou": best_main_iou,
+    }
+    if scaler is not None:
+        ckpt["scaler"] = scaler.state_dict()
+    if extra:
+        ckpt["extra"] = extra
+    torch.save(ckpt, path)
+
+
+def load_checkpoint(path: str,
+                    model: nn.Module,
+                    optimizer: Optional[torch.optim.Optimizer] = None,
+                    scaler: Optional[GradScaler] = None,
+                    map_location: str = "cpu") -> Dict[str, Any]:
+    ckpt = torch.load(path, map_location=map_location, weights_only=False)
+    model.load_state_dict(ckpt["model"], strict=True)
+    if optimizer is not None and "optimizer" in ckpt:
+        optimizer.load_state_dict(ckpt["optimizer"])
+    if scaler is not None and "scaler" in ckpt:
+        scaler.load_state_dict(ckpt["scaler"])
+    return ckpt
+
+
+def run_one_epoch(model: nn.Module,
+                  loader: DataLoader,
+                  optimizer: Optional[torch.optim.Optimizer],
+                  device: torch.device,
+                  num_classes: int,
+                  ignore_index: int,
+                  criterion: nn.Module,
+                  amp: bool,
+                  scaler: Optional[GradScaler],
+                  train: bool,
+                  grad_accum: int = 1) -> Dict[str, Any]:
+
+    model.train(train)
+
+    total_loss = 0.0
+    cm = torch.zeros((num_classes, num_classes), dtype=torch.int64, device=device)
+
+    t0 = time.time()
+    n_batches = 0
+
+    # >>>>> ESSENCIAL: desliga grad no val
+    with torch.set_grad_enabled(train):
+        if train and optimizer is not None:
+            optimizer.zero_grad(set_to_none=True)
+
+        for step, (imgs, masks) in enumerate(loader):
+            imgs = imgs.to(device, non_blocking=True)
+            masks = masks.to(device, non_blocking=True)
+
+            imgs = normalize_img(imgs)
+
+            # AMP tanto em train quanto (opcionalmente) em val
+            with autocast(device_type="cuda", enabled=amp and device.type == "cuda"):
+                out = model(pixel_values=imgs)
+                logits = out.logits
+
+                if logits.shape[-2:] != masks.shape[-2:]:
+                    logits = torch.nn.functional.interpolate(
+                        logits, size=masks.shape[-2:], mode="bilinear", align_corners=False
+                    )
+
+                loss = criterion(logits, masks)
+                if train and grad_accum > 1:
+                    loss = loss / grad_accum
+
+            if train and optimizer is not None:
+                if amp and scaler is not None and device.type == "cuda":
+                    scaler.scale(loss).backward()
+                    if ((step + 1) % grad_accum) == 0:
+                        scaler.step(optimizer)
+                        scaler.update()
+                        optimizer.zero_grad(set_to_none=True)
+                else:
+                    loss.backward()
+                    if ((step + 1) % grad_accum) == 0:
+                        optimizer.step()
+                        optimizer.zero_grad(set_to_none=True)
+
+            total_loss += float(loss.item()) * (grad_accum if train and grad_accum > 1 else 1.0)
+            n_batches += 1
+
+            preds = torch.argmax(logits, dim=1)
+            update_confusion_matrix(cm, preds, masks, num_classes=num_classes, ignore_index=ignore_index)
+
+    dt = time.time() - t0
+    avg_loss = total_loss / max(n_batches, 1)
+    miou, iou_per_class = compute_iou_from_cm(cm)
+    acc = compute_pixel_acc_from_cm(cm)
+
+    return {"loss": avg_loss, "miou": miou, "iou_per_class": iou_per_class, "acc": acc, "time_s": dt}
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--config", default="config.json")
+    parser.add_argument("--epochs", type=int, default=120)
+    parser.add_argument("--batch", type=int, default=1)  # <<< default seguro pra 8GB
+    parser.add_argument("--lr", type=float, default=6e-5)
+    parser.add_argument("--wd", type=float, default=0.01)
+    parser.add_argument("--num_workers", type=int, default=4)
+
+    parser.add_argument("--save_every", type=int, default=10)
+    parser.add_argument("--resume", action="store_true")
+
+    parser.add_argument("--amp", action="store_true")
+    parser.add_argument("--amp_val", action="store_true")  # <<< novo: AMP no val
+    parser.add_argument("--grad_accum", type=int, default=1)  # <<< novo
+
+    parser.add_argument("--grad_ckpt", action="store_true")  # <<< novo: checkpointing
+    parser.add_argument("--ignore_index", type=int, default=255)
+    parser.add_argument("--class_weights", type=str, default="auto")
+    parser.add_argument("--main_class", type=str, default=None)
+    parser.add_argument("--es_classes", type=str, default="")
+    parser.add_argument("--seed", type=int, default=42)
+    args = parser.parse_args()
+
+    set_seed(args.seed)
+
+    with open(args.config, "r") as f:
+        config = json.load(f)
+
+    MODELO = config["camera"]
+    MODEL_NAME = config["model_name"]
+    RESOLUCAO = config["resolucao"]
+    ROI_INICIO = config["roi_inicio"]
+    ROI_TAMANHO = config["roi_tamanho"]
+    MAIN_CLASS_NAME = str(config.get("main_class_name", "erva")).lower()
+    BACKBONE = config["backbone"]
+    if args.main_class is not None:
+        MAIN_CLASS_NAME = args.main_class.lower()
+
+    dataset_path = os.path.join(MODELO, "dataset")
+    labelmap_path = os.path.join(dataset_path, "labelmap.txt")
+
+    save_path = os.path.join(MODELO, "backup", config["modelo"], MODEL_NAME)
+    os.makedirs(save_path, exist_ok=True)
+    last_ckpt_path = os.path.join(save_path, "last.pt")
+    best_miou_path = os.path.join(save_path, "best_miou.pt")
+    best_main_path = os.path.join(save_path, "best_main.pt")
+
+    device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+    print(f"Device: {device}")
+
+    # Datasets
+    ds_train = ROISegDataset(
+        os.path.join(dataset_path, "split", "train"),
+        save_path, ROI_INICIO, ROI_TAMANHO,
+        RESOLUCAO[0], RESOLUCAO[1], labelmap_path
+    )
+    ds_val = ROISegDataset(
+        os.path.join(dataset_path, "split", "val"),
+        save_path, ROI_INICIO, ROI_TAMANHO,
+        RESOLUCAO[0], RESOLUCAO[1], labelmap_path
+    )
+
+    CLASS_NAMES = getattr(ds_train, "classes", None)
+    if CLASS_NAMES is None:
+        raise RuntimeError("ROISegDataset precisa expor .classes (list ou dict).")
+
+    if isinstance(CLASS_NAMES, list):
+        num_classes = len(CLASS_NAMES)
+        class_id_by_name = {n.lower(): i for i, n in enumerate(CLASS_NAMES)}
+        class_name_by_id = {i: n for i, n in enumerate(CLASS_NAMES)}
+    elif isinstance(CLASS_NAMES, dict):
+        if all(isinstance(k, int) for k in CLASS_NAMES.keys()):
+            num_classes = len(CLASS_NAMES)
+            class_name_by_id = {int(k): str(v) for k, v in CLASS_NAMES.items()}
+            class_id_by_name = {str(v).lower(): int(k) for k, v in CLASS_NAMES.items()}
+        else:
+            class_id_by_name = {str(k).lower(): int(v) for k, v in CLASS_NAMES.items()}
+            num_classes = len(class_id_by_name)
+            class_name_by_id = {v: k for k, v in class_id_by_name.items()}
+    else:
+        raise RuntimeError("Formato de .classes não reconhecido.")
+
+    main_class_id = class_id_by_name.get(MAIN_CLASS_NAME, None)
+    if main_class_id is None:
+        print(f"[WARN] main_class_name='{MAIN_CLASS_NAME}' não encontrado. best_main_iou usa mIoU.")
+    else:
+        print(f"Main class: '{MAIN_CLASS_NAME}' -> id={main_class_id}")
+
+    es_names = [x.strip().lower() for x in args.es_classes.split(",") if x.strip()]
+    ES_CLASS_IDS = _ids_by_names(CLASS_NAMES, es_names)
+
+    dl_train = DataLoader(
+        ds_train, batch_size=args.batch, shuffle=True,
+        num_workers=args.num_workers, pin_memory=True,
+        collate_fn=default_collate, drop_last=True
+    )
+    dl_val = DataLoader(
+        ds_val, batch_size=1, shuffle=False,   # <<< val com batch 1 é mais estável
+        num_workers=max(2, args.num_workers // 2), pin_memory=True,
+        collate_fn=default_collate, drop_last=False
+    )
+
+    model = SegformerForSemanticSegmentation.from_pretrained(
+        BACKBONE,
+        num_labels=num_classes,
+        ignore_mismatched_sizes=True,
+        use_safetensors=True
+    )
+
+    if args.grad_ckpt:
+        try:
+            # Nem toda versão/classe suporta
+            model.gradient_checkpointing_enable()
+            print("[OK] gradient checkpointing enabled")
+        except Exception as e:
+            print(f"[WARN] gradient checkpointing não suportado aqui ({type(e).__name__}: {e}). Seguindo sem.")
+
+    model.to(device)
+
+    # Loss weights
+    if args.class_weights.lower() == "none":
+        weights = None
+    elif args.class_weights.lower() == "auto":
+        w = estimate_class_weights(ds_train, num_classes=num_classes, ignore_index=args.ignore_index)
+        weights = w.to(device)
+        print("Class weights (auto):", w.cpu().numpy().round(3).tolist())
+    else:
+        parts = [float(x) for x in args.class_weights.split(",")]
+        if len(parts) != num_classes:
+            raise ValueError(f"class_weights manual precisa ter {num_classes} valores, recebeu {len(parts)}.")
+        weights = torch.tensor(parts, dtype=torch.float32, device=device)
+
+    criterion = nn.CrossEntropyLoss(weight=weights, ignore_index=args.ignore_index)
+
+    optimizer = torch.optim.AdamW(model.parameters(), lr=args.lr, weight_decay=args.wd)
+
+    scheduler = torch.optim.lr_scheduler.ReduceLROnPlateau(
+        optimizer, mode="min", factor=0.5, patience=6, threshold=1e-4, verbose=True
+    )
+
+    scaler = GradScaler(enabled=args.amp and device.type == "cuda")
+
+    start_epoch = 1
+    best_miou = -1.0
+    best_main_iou = -1.0
+
+    if args.resume and os.path.exists(best_miou_path):
+        ckpt = load_checkpoint(best_miou_path, model, optimizer, scaler=scaler, map_location="cpu")
+        start_epoch = int(ckpt["epoch"]) + 1
+        best_miou = float(ckpt.get("best_miou", -1.0))
+        best_main_iou = float(ckpt.get("best_main_iou", -1.0))
+        print(f"[RESUME] epoch={start_epoch} best_miou={best_miou:.4f} best_main_iou={best_main_iou:.4f}")
+
+    def pretty_iou(iou_list):
+        return " | ".join([f"{class_name_by_id.get(cid,cid)}:{v:.3f}" for cid, v in enumerate(iou_list)])
+
+    for epoch in range(start_epoch, args.epochs + 1):
+        lr_now = optimizer.param_groups[0]["lr"]
+        print(f"\n==== Epoch {epoch}/{args.epochs} | lr={lr_now:.2e} ====")
+
+        if device.type == "cuda":
+            torch.cuda.empty_cache()
+
+        tr = run_one_epoch(
+            model=model, loader=dl_train, optimizer=optimizer,
+            device=device, num_classes=num_classes, ignore_index=args.ignore_index,
+            criterion=criterion, amp=args.amp, scaler=scaler, train=True,
+            grad_accum=max(1, args.grad_accum)
+        )
+
+        if device.type == "cuda":
+            torch.cuda.empty_cache()
+
+        va = run_one_epoch(
+            model=model, loader=dl_val, optimizer=None,
+            device=device, num_classes=num_classes, ignore_index=args.ignore_index,
+            criterion=criterion, amp=args.amp_val, scaler=None, train=False,
+            grad_accum=1
+        )
+
+        scheduler.step(va["loss"])
+
+        main_iou = va["miou"] if main_class_id is None else va["iou_per_class"][main_class_id]
+
+        print(f"TRAIN: loss={tr['loss']:.4f} acc={tr['acc']:.4f} miou={tr['miou']:.4f} (t={tr['time_s']:.1f}s)")
+        print(f"VAL  : loss={va['loss']:.4f} acc={va['acc']:.4f} miou={va['miou']:.4f} main_iou={main_iou:.4f} (t={va['time_s']:.1f}s)")
+        print("IoU per class:", pretty_iou(va["iou_per_class"]))
+
+        if ES_CLASS_IDS:
+            mini = " | ".join([f"{class_name_by_id[cid]}:{va['iou_per_class'][cid]:.3f}" for cid in ES_CLASS_IDS])
+            print("ES classes:", mini)
+
+        save_checkpoint(
+            last_ckpt_path, model, optimizer, scaler=scaler,
+            epoch=epoch, best_miou=best_miou, best_main_iou=best_main_iou,
+            extra={"val_loss": va["loss"], "val_miou": va["miou"], "val_main_iou": float(main_iou)}
+        )
+
+        if args.save_every > 0 and (epoch % args.save_every == 0):
+            save_checkpoint(
+                os.path.join(save_path, f"epoch_{epoch:04d}.pt"),
+                model, optimizer, scaler=scaler,
+                epoch=epoch, best_miou=best_miou, best_main_iou=best_main_iou
+            )
+
+        if va["miou"] > best_miou:
+            best_miou = va["miou"]
+            save_checkpoint(
+                best_miou_path, model, optimizer, scaler=scaler,
+                epoch=epoch, best_miou=best_miou, best_main_iou=best_main_iou
+            )
+            print(f"[BEST mIoU] {best_miou:.4f} -> saved: {best_miou_path}")
+
+        if float(main_iou) > best_main_iou:
+            best_main_iou = float(main_iou)
+            save_checkpoint(
+                best_main_path, model, optimizer, scaler=scaler,
+                epoch=epoch, best_miou=best_miou, best_main_iou=best_main_iou
+            )
+            print(f"[BEST MAIN] {best_main_iou:.4f} -> saved: {best_main_path}")
+
+
+if __name__ == "__main__":
+    main()

Python/OAK/datasets/_8_train_segformer_b3_dual.py

@@ -0,0 +1,965 @@
+# _8_train_segformer_b3_dual_v2.py
+# Treino SegFormer-B3 com 2 cabeças:
+#  - Head 1: segmentação semântica (3 classes + ignore)
+#  - Head 2: corredor binário (0/1 + ignore)
+#
+# Features:
+#  - class weights (opcional, estimado do train)
+#  - pos_weight (opcional, estimado do train p/ BCE do corredor)
+#  - warmup + cosine (opcional) + ReduceLROnPlateau
+#  - early stopping com métrica agregada
+#  - resume completo (model + corridor_head + optimizer + scaler)
+#
+# Observação: este script assume que seu ROISegDataset retorna dict com:
+#   {"image": <tensor/ndarray>, "mask": <tensor/ndarray>, ...}
+# e que você já acertou para também expor "image_path"/"mask_path" OU
+# que seu DualMaskROISegDataset consiga derivar paths corretamente.
+
+#python _8_train_segformer_b3_dual.py --epochs 80 --batch 2 --num_workers 2 --amp --amp_val --use_weights --auto_pos_weight --warmup_epochs 2 --cosine_epochs 15 --lambda_corr 0.5 --corr_dice_max 0.10 --corr_dice_ramp_epochs 10 --es_metric harmonic --es_patience 12
+
+#python _8_train_segformer_b3_dual.py --epochs 120 --batch 2 --num_workers 4 --amp --amp_val --grad_accum 1 --use_weights --auto_pos_weight --warmup_epochs 2 --cosine_epochs 20 --lambda_corr 0.7 --corr_dice_max 0.15 --corr_dice_ramp_epochs 10 --es_metric harmonic --es_patience 15
+
+import os
+import re
+import time
+import math
+import json
+import random
+import argparse
+from dataclasses import dataclass
+from typing import Any, Dict, List, Optional, Tuple
+
+import numpy as np
+from PIL import Image
+
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+from torch.utils.data import DataLoader
+
+from torch.amp import autocast
+from torch.cuda.amp import GradScaler
+
+# HuggingFace transformers
+from transformers import SegformerForSemanticSegmentation
+
+# Seu dataset (o mesmo que você já usa no projeto)
+from roi_seg_dataset import ROISegDataset
+
+
+# -----------------------------
+# Utils
+# -----------------------------
+def seed_everything(seed: int = 42):
+    random.seed(seed)
+    np.random.seed(seed)
+    torch.manual_seed(seed)
+    torch.cuda.manual_seed_all(seed)
+
+
+IMAGENET_MEAN = torch.tensor([0.485, 0.456, 0.406]).view(3, 1, 1)
+IMAGENET_STD  = torch.tensor([0.229, 0.224, 0.225]).view(3, 1, 1)
+
+
+def normalize_img(img: torch.Tensor) -> torch.Tensor:
+    return (img - IMAGENET_MEAN.to(img.device)) / IMAGENET_STD.to(img.device)
+
+
+@torch.no_grad()
+def update_confusion_matrix(cm: torch.Tensor, preds: torch.Tensor, labels: torch.Tensor, num_classes: int, ignore_index: int = 255):
+    preds = preds.view(-1)
+    labels = labels.view(-1)
+
+    valid = labels != ignore_index
+    preds = preds[valid]
+    labels = labels[valid]
+
+    idx = labels * num_classes + preds
+    bins = torch.bincount(idx, minlength=num_classes * num_classes)
+    cm += bins.view(num_classes, num_classes)
+
+
+@torch.no_grad()
+def compute_iou_from_cm(cm: torch.Tensor, eps: float = 1e-6) -> Tuple[float, List[float]]:
+    cm = cm.float()
+    tp = torch.diag(cm)
+    fp = cm.sum(0) - tp
+    fn = cm.sum(1) - tp
+    denom = tp + fp + fn + eps
+    iou = (tp / denom).cpu().tolist()
+    miou = float(np.mean(iou))
+    return miou, iou
+
+
+@torch.no_grad()
+def compute_pixel_acc_from_cm(cm: torch.Tensor, eps: float = 1e-6) -> float:
+    cm = cm.float()
+    acc = (torch.diag(cm).sum() / (cm.sum() + eps)).item()
+    return acc
+
+
+def default_collate_dual(batch):
+    imgs, m1s, m2s = [], [], []
+    for item in batch:
+        # item pode vir como (img, mask1, mask2) ou dict etc.
+        if isinstance(item, dict):
+            img = item["image"]
+            mask1 = item["mask1"]
+            mask2 = item["mask2"]
+        else:
+            img, mask1, mask2 = item
+
+        if isinstance(img, np.ndarray):
+            img = torch.from_numpy(img)
+        if isinstance(mask1, np.ndarray):
+            mask1 = torch.from_numpy(mask1)
+        if isinstance(mask2, np.ndarray):
+            mask2 = torch.from_numpy(mask2)
+
+        if img.ndim == 3 and img.shape[-1] == 3:
+            img = img.permute(2, 0, 1)
+
+        if img.dtype != torch.float32:
+            img = img.float()
+            if img.max() > 1.5:
+                img = img / 255.0
+
+        imgs.append(img)
+        m1s.append(mask1.long())
+        m2s.append(mask2.long())
+
+    return torch.stack(imgs, 0), torch.stack(m1s, 0), torch.stack(m2s, 0)
+
+
+def estimate_class_weights_from_ds(ds: ROISegDataset, num_classes: int, ignore_index: int = 255, max_samples: int = 800) -> torch.Tensor:
+    n = min(len(ds), max_samples)
+    idxs = np.random.choice(len(ds), size=n, replace=False)
+
+    counts = np.zeros(num_classes, dtype=np.float64)
+    for i in idxs:
+        item = ds[i]
+        mask = item["mask"] if isinstance(item, dict) else item[1]
+        m = mask.cpu().numpy() if isinstance(mask, torch.Tensor) else np.array(mask)
+
+        m = m.reshape(-1)
+        m = m[m != ignore_index]
+        if m.size == 0:
+            continue
+        counts += np.bincount(m, minlength=num_classes)[:num_classes]
+
+    freq = counts / (counts.sum() + 1e-12)
+    freq = np.clip(freq, 1e-12, 1.0)
+    weights = 1.0 / np.log(1.02 + freq)
+    weights = weights / weights.mean()
+    return torch.tensor(weights, dtype=torch.float32)
+
+
+def estimate_pos_weight_from_masks2(ds_dual, ignore_index2: int = 255, max_samples: int = 800) -> Optional[torch.Tensor]:
+    """
+    Estima pos_weight = neg/pos para BCEWithLogitsLoss.
+    Considera targets binários {0,1} ignorando ignore_index2.
+    """
+    n = min(len(ds_dual), max_samples)
+    if n <= 0:
+        return None
+
+    idxs = np.random.choice(len(ds_dual), size=n, replace=False)
+    pos = 0
+    neg = 0
+    for i in idxs:
+        it = ds_dual[i]
+        m2 = it["mask2"] if isinstance(it, dict) else it[2]
+
+        if isinstance(m2, torch.Tensor):
+            m2 = m2.cpu().numpy()
+        m2 = np.array(m2).reshape(-1)
+        m2 = m2[m2 != ignore_index2]
+        if m2.size == 0:
+            continue
+        pos += int((m2 == 1).sum())
+        neg += int((m2 == 0).sum())
+
+    if pos <= 0:
+        return None
+    pw = float(neg) / float(pos)
+    # clamp leve pra não explodir treino
+    pw = float(np.clip(pw, 1.0, 50.0))
+    return torch.tensor([pw], dtype=torch.float32)
+
+
+def dice_loss_with_logits(logits: torch.Tensor, targets: torch.Tensor, ignore_index: int = 255, eps: float = 1e-6) -> torch.Tensor:
+    """
+    logits: [B,1,H,W]
+    targets: [B,H,W] com {0,1} e possivelmente ignore_index
+    """
+    probs = torch.sigmoid(logits)
+    t = targets.float().unsqueeze(1)
+
+    if ignore_index is not None:
+        valid = (targets != ignore_index).unsqueeze(1)
+        probs = probs[valid]
+        t = t[valid]
+
+    probs = probs.reshape(-1)
+    t = t.reshape(-1)
+
+    inter = (probs * t).sum()
+    denom = probs.sum() + t.sum() + eps
+    dice = (2.0 * inter + eps) / denom
+    return 1.0 - dice
+
+
+@torch.no_grad()
+def binary_iou_and_acc_from_logits(logits: torch.Tensor, targets: torch.Tensor, thr: float = 0.5, ignore_index: int = 255, eps: float = 1e-6) -> Tuple[float, float]:
+    probs = torch.sigmoid(logits)
+    preds = (probs >= thr).long().squeeze(1)
+
+    if logits.shape[-2:] != targets.shape[-2:]:
+        preds = F.interpolate(preds.unsqueeze(1).float(), size=targets.shape[-2:], mode="nearest").long().squeeze(1)
+
+    valid = (targets != ignore_index)
+    if valid.sum().item() == 0:
+        return 0.0, 0.0
+
+    p = preds[valid]
+    t = targets[valid].long()
+
+    tp = ((p == 1) & (t == 1)).sum().float()
+    fp = ((p == 1) & (t == 0)).sum().float()
+    fn = ((p == 0) & (t == 1)).sum().float()
+
+    iou = (tp / (tp + fp + fn + eps)).item()
+    acc = ((p == t).sum().float() / (t.numel() + eps)).item()
+    return iou, acc
+
+
+def _pretty_iou(iou_list: List[float], class_name_by_id: Dict[int, str]) -> str:
+    parts = []
+    for cid, v in enumerate(iou_list):
+        parts.append(f"{class_name_by_id.get(cid, str(cid))}:{v:.3f}")
+    return " | ".join(parts)
+
+
+def save_checkpoint(path: str,
+                    base_model: nn.Module,
+                    corridor_head: nn.Module,
+                    optimizer: torch.optim.Optimizer,
+                    scaler: Optional[GradScaler],
+                    epoch: int,
+                    best_miou: float,
+                    best_main_iou: float,
+                    best_corr_iou: float,
+                    extra: Optional[Dict[str, Any]] = None):
+    ckpt = {
+        "epoch": epoch,
+        "model": base_model.state_dict(),
+        "corridor_head": corridor_head.state_dict(),
+        "optimizer": optimizer.state_dict(),
+        "best_miou": best_miou,
+        "best_main_iou": best_main_iou,
+        "best_corr_iou": best_corr_iou,
+    }
+    if scaler is not None:
+        ckpt["scaler"] = scaler.state_dict()
+    if extra:
+        ckpt["extra"] = extra
+    torch.save(ckpt, path)
+
+
+def load_checkpoint(path: str,
+                    base_model: nn.Module,
+                    corridor_head: nn.Module,
+                    optimizer: Optional[torch.optim.Optimizer] = None,
+                    scaler: Optional[GradScaler] = None,
+                    map_location: str = "cpu") -> Dict[str, Any]:
+    ckpt = torch.load(path, map_location=map_location, weights_only=False)
+    base_model.load_state_dict(ckpt["model"], strict=True)
+    corridor_head.load_state_dict(ckpt["corridor_head"], strict=True)
+    if optimizer is not None and "optimizer" in ckpt:
+        optimizer.load_state_dict(ckpt["optimizer"])
+    if scaler is not None and "scaler" in ckpt:
+        scaler.load_state_dict(ckpt["scaler"])
+    return ckpt
+
+
+# -----------------------------
+# Dual Dataset Wrapper
+# -----------------------------
+class DualMaskROISegDataset(torch.utils.data.Dataset):
+    def __init__(self, base_ds: ROISegDataset, split_root: str, ignore_index2: int = 255):
+        self.base_ds = base_ds
+        self.split_root = split_root
+        self.ignore_index2 = ignore_index2
+
+        # NÃO falha aqui por pasta. Vamos resolver por caminho da mask1.
+        self.masks2_dir = os.path.join(split_root, "masks2")
+        self.has_flat_masks2 = os.path.isdir(self.masks2_dir)
+
+    def __len__(self):
+        return len(self.base_ds)
+
+    def _get_mask1_path(self, item: Dict[str, Any], idx: int) -> str:
+        # 1) se vier no dict, usa
+        for k in ("mask_path", "mask_file", "maskname", "mask_name"):
+            if k in item and item[k]:
+                return str(item[k])
+
+        # 2) fallback: usa o índice no ROISegDataset (ele tem msk_paths)
+        if hasattr(self.base_ds, "msk_paths"):
+            return str(self.base_ds.msk_paths[idx])
+
+        raise RuntimeError(
+            "ROISegDataset não retornou mask_path/mask_file e não possui base_ds.msk_paths. "
+            "Não dá pra localizar a máscara para buscar a masks2."
+        )
+
+    def _load_mask2_from_mask1_path(self, mask1_path: str, target_shape_hw: Tuple[int, int]) -> torch.Tensor:
+        # 1) modo robusto: espelha estrutura trocando /masks/ -> /masks2/
+        norm = os.path.normpath(mask1_path)
+        parts = norm.split(os.sep)
+        try:
+            i = parts.index("masks")
+            parts[i] = "masks2"
+            path2 = os.sep.join(parts)
+        except ValueError:
+            path2 = ""
+
+        # 2) fallback: modo “flat” (split_root/masks2/<filename>)
+        if (not path2) or (not os.path.exists(path2)):
+            if not self.has_flat_masks2:
+                raise FileNotFoundError(
+                    f"Mask2 não encontrada espelhando a mask1.\n"
+                    f"mask1: {mask1_path}\n"
+                    f"tentativa: {path2}\n"
+                    f"E também não existe: {self.masks2_dir}"
+                )
+            filename = os.path.basename(mask1_path)
+            path2 = os.path.join(self.masks2_dir, filename)
+            if not os.path.exists(path2):
+                raise FileNotFoundError(f"Mask2 não encontrada: {path2}")
+
+        m = np.array(Image.open(path2))
+        if m.ndim == 3:
+            m = m[..., 0]
+
+        if m.max() > 1:
+            m = (m >= 128).astype(np.uint8)
+
+        H, W = target_shape_hw
+        if m.shape[0] != H or m.shape[1] != W:
+            m = np.array(Image.fromarray(m).resize((W, H), resample=Image.NEAREST))
+
+        return torch.from_numpy(m).long()
+
+    def __getitem__(self, idx):
+        item = self.base_ds[idx]
+        # caso venha (dict,) ou [dict]
+        if isinstance(item, (list, tuple)) and len(item) == 1 and isinstance(item[0], dict):
+            item = item[0]
+
+        if isinstance(item, dict):
+            pass
+        elif isinstance(item, (list, tuple)) and len(item) >= 2:
+            img, mask = item[0], item[1]
+            item = {"image": img, "mask": mask}
+        else:
+            raise RuntimeError(
+                f"ROISegDataset retornou formato inesperado: type={type(item)} value={item}"
+            )
+
+        img = item["image"]
+        mask1 = item["mask"]
+
+        if isinstance(mask1, torch.Tensor):
+            h, w = int(mask1.shape[-2]), int(mask1.shape[-1])
+        else:
+            m = np.array(mask1)
+            h, w = m.shape[0], m.shape[1]
+
+        mask1_path = self._get_mask1_path(item, idx)
+        mask2 = self._load_mask2_from_mask1_path(mask1_path, (h, w))
+
+        item["mask1"] = mask1
+        item["mask2"] = mask2
+        return item
+
+
+# -----------------------------
+# Corridor head
+# -----------------------------
+class CorridorHead(nn.Module):
+    """
+    Head simples:
+      feat (B,C,H,W) + logits_seg (B,K,H,W) -> concat -> convs -> 1 canal (logit corredor)
+    """
+    def __init__(self, feat_ch: int, num_classes: int, hidden: int = 256, dropout: float = 0.1):
+        super().__init__()
+        in_ch = feat_ch + num_classes
+        self.in_ch = in_ch
+        self.net = nn.Sequential(
+            nn.Conv2d(in_ch, hidden, kernel_size=3, padding=1),
+            nn.BatchNorm2d(hidden),
+            nn.ReLU(inplace=True),
+            nn.Dropout2d(dropout),
+            nn.Conv2d(hidden, hidden, kernel_size=3, padding=1),
+            nn.BatchNorm2d(hidden),
+            nn.ReLU(inplace=True),
+            nn.Dropout2d(dropout),
+            nn.Conv2d(hidden, 1, kernel_size=1)
+        )
+
+    def forward(self, feat: torch.Tensor, logits_seg: torch.Tensor) -> torch.Tensor:
+        x = torch.cat([feat, logits_seg], dim=1)
+        return self.net(x)
+
+
+# -----------------------------
+# One epoch
+# -----------------------------
+def run_one_epoch_dual(base_model: nn.Module,
+                      corridor_head: nn.Module,
+                      loader: DataLoader,
+                      optimizer: Optional[torch.optim.Optimizer],
+                      device: torch.device,
+                      num_classes: int,
+                      ignore_index1: int,
+                      ignore_index2: int,
+                      criterion_seg: nn.Module,
+                      bce_corr: nn.Module,
+                      lambda_corr: float,
+                      amp: bool,
+                      scaler: Optional[GradScaler],
+                      train: bool,
+                      grad_accum: int = 1,
+                      corridor_thr: float = 0.5,
+                      corr_dice_mix: float = 0.0) -> Dict[str, Any]:
+
+    base_model.train(train)
+    corridor_head.train(train)
+
+    total_loss = 0.0
+    total_loss_seg = 0.0
+    total_loss_corr = 0.0
+
+    cm = torch.zeros((num_classes, num_classes), dtype=torch.int64, device=device)
+
+    corr_iou_accum = 0.0
+    corr_acc_accum = 0.0
+
+    t0 = time.time()
+    n_batches = 0
+
+    with torch.set_grad_enabled(train):
+        if train and optimizer is not None:
+            optimizer.zero_grad(set_to_none=True)
+
+        for step, (imgs, masks1, masks2) in enumerate(loader, start=1):
+            imgs = imgs.to(device, non_blocking=True)
+            masks1 = masks1.to(device, non_blocking=True)
+            masks2 = masks2.to(device, non_blocking=True)
+
+            #print("masks2 unique:", torch.unique(masks2)[:10])
+            #print("masks2 max:", masks2.max().item(), "min:", masks2.min().item())
+
+            imgs = normalize_img(imgs)
+
+            with autocast(device_type="cuda", enabled=amp and device.type == "cuda"):
+                out = base_model(pixel_values=imgs)
+                logits1 = out.logits  # [B,K,H,W]
+
+                if logits1.shape[-2:] != masks1.shape[-2:]:
+                    logits1 = F.interpolate(logits1, size=masks1.shape[-2:], mode="bilinear", align_corners=False)
+
+                loss_seg = criterion_seg(logits1, masks1)
+
+                # feat do encoder: pega hidden_states (se disponível), senão reusa logits como proxy
+                feat = None
+                if hasattr(out, "hidden_states") and out.hidden_states is not None:
+                    feat = out.hidden_states[-1]  # [B, C, h, w]
+                else:
+                    # fallback: usa logits como feature (não ideal, mas mantém vivo)
+                    feat = logits1
+
+                if feat.shape[-2:] != logits1.shape[-2:]:
+                    feat = F.interpolate(feat, size=logits1.shape[-2:], mode="bilinear", align_corners=False)
+
+                logits_corr = corridor_head(feat, logits1)  # [B,1,H,W]
+
+                if logits_corr.shape[-2:] != masks2.shape[-2:]:
+                    logits_corr = F.interpolate(logits_corr, size=masks2.shape[-2:], mode="bilinear", align_corners=False)
+
+                #with torch.no_grad():
+                #    p = torch.sigmoid(logits_corr)
+                #    print("corr prob mean:", p.mean().item(), "min:", p.min().item(), "max:", p.max().item())
+
+                # BCE (com ignore via masking manual)
+                valid = (masks2 != ignore_index2)
+                if valid.sum().item() > 0:
+                    tgt = masks2.float().unsqueeze(1)
+                    bce_val = bce_corr(logits_corr[valid.unsqueeze(1)], tgt[valid.unsqueeze(1)])
+                    if corr_dice_mix > 0:
+                        d_val = dice_loss_with_logits(logits_corr, masks2, ignore_index=ignore_index2)
+                        loss_corr = (1.0 - corr_dice_mix) * bce_val + corr_dice_mix * d_val
+                    else:
+                        loss_corr = bce_val
+                else:
+                    loss_corr = torch.zeros([], device=device, dtype=loss_seg.dtype)
+
+                loss = loss_seg + lambda_corr * loss_corr
+
+                if train and grad_accum > 1:
+                    loss = loss / grad_accum
+
+            if train and optimizer is not None:
+                if amp and scaler is not None and device.type == "cuda":
+                    scaler.scale(loss).backward()
+                    if (step % grad_accum) == 0:
+                        scaler.step(optimizer)
+                        scaler.update()
+                        optimizer.zero_grad(set_to_none=True)
+                else:
+                    loss.backward()
+                    if (step % grad_accum) == 0:
+                        optimizer.step()
+                        optimizer.zero_grad(set_to_none=True)
+
+            total_loss += float(loss.item()) * (grad_accum if (train and grad_accum > 1) else 1.0)
+            total_loss_seg += float(loss_seg.item())
+            total_loss_corr += float(loss_corr.item())
+            n_batches += 1
+
+            # metrics seg
+            preds1 = torch.argmax(logits1.detach(), dim=1)
+            update_confusion_matrix(cm, preds1, masks1, num_classes, ignore_index=ignore_index1)
+
+            # metrics corr
+            ciou, cacc = binary_iou_and_acc_from_logits(logits_corr.detach(), masks2, thr=corridor_thr, ignore_index=ignore_index2)
+            corr_iou_accum += ciou
+            corr_acc_accum += cacc
+
+    miou, iou_per_class = compute_iou_from_cm(cm)
+    acc = compute_pixel_acc_from_cm(cm)
+
+    out = {
+        "loss": total_loss / max(1, n_batches),
+        "loss_seg": total_loss_seg / max(1, n_batches),
+        "loss_corr": total_loss_corr / max(1, n_batches),
+        "acc": acc,
+        "miou": miou,
+        "iou_per_class": iou_per_class,
+        "corr_iou": corr_iou_accum / max(1, n_batches),
+        "corr_acc": corr_acc_accum / max(1, n_batches),
+        "time_s": time.time() - t0
+    }
+    return out
+
+
+# -----------------------------
+# LR / EarlyStop helpers
+# -----------------------------
+@dataclass
+class EarlyStopState:
+    best: float = -1e9
+    bad_epochs: int = 0
+    stopped: bool = False
+
+
+def agg_metric(es_metric: str, miou: float, main_iou: float, corr_iou: float) -> float:
+    if es_metric == "miou":
+        return float(miou)
+    if es_metric == "main":
+        return float(main_iou)
+    if es_metric == "corr":
+        return float(corr_iou)
+    if es_metric == "harmonic":
+        eps = 1e-6
+        a = max(eps, float(main_iou))
+        b = max(eps, float(corr_iou))
+        return float(2.0 * a * b / (a + b + eps))
+    # default
+    return float(miou)
+
+
+def apply_warmup(optimizer, base_lr: float, epoch: int, warmup_epochs: int):
+    if warmup_epochs <= 0:
+        return
+    if epoch <= warmup_epochs:
+        wf = epoch / float(warmup_epochs)
+        for g in optimizer.param_groups:
+            g["lr"] = base_lr * wf
+
+
+# -----------------------------
+# Main
+# -----------------------------
+def main():
+    ap = argparse.ArgumentParser()
+
+    ap.add_argument("--config", default="config.json")
+    ap.add_argument("--epochs", type=int, default=120)
+    ap.add_argument("--batch", type=int, default=4)
+    ap.add_argument("--num_workers", type=int, default=4)
+    ap.add_argument("--seed", type=int, default=42)
+
+    ap.add_argument("--lr", type=float, default=6e-5)
+    ap.add_argument("--wd", type=float, default=1e-2)
+    ap.add_argument("--min_lr", type=float, default=6e-6)
+
+    ap.add_argument("--amp", action="store_true")
+    ap.add_argument("--amp_val", action="store_true")
+    ap.add_argument("--grad_accum", type=int, default=1)
+
+    ap.add_argument("--ignore_index", type=int, default=255)
+    ap.add_argument("--ignore_index2", type=int, default=255)
+
+    ap.add_argument("--lambda_corr", type=float, default=0.5)
+    ap.add_argument("--corr_thr", type=float, default=0.5)
+
+    # class weights
+    ap.add_argument("--use_weights", action="store_true")
+    ap.add_argument("--cw_max_samples", type=int, default=800)
+
+    # pos_weight corredor
+    ap.add_argument("--auto_pos_weight", action="store_true")
+    ap.add_argument("--pw_max_samples", type=int, default=800)
+
+    # mistura dice no corredor (rampa)
+    ap.add_argument("--corr_dice_max", type=float, default=0.15)
+    ap.add_argument("--corr_dice_ramp_epochs", type=int, default=10)
+
+    # schedulers
+    ap.add_argument("--warmup_epochs", type=int, default=0)
+    ap.add_argument("--cosine_epochs", type=int, default=0, help="se >0: usa cosine por N épocas e depois troca p/ plateau")
+    ap.add_argument("--plateau_patience", type=int, default=3)
+    ap.add_argument("--plateau_factor", type=float, default=0.6)
+    ap.add_argument("--plateau_cooldown", type=int, default=1)
+
+    # early stopping
+    ap.add_argument("--es_metric", default="harmonic", choices=["miou", "main", "corr", "harmonic"])
+    ap.add_argument("--es_patience", type=int, default=12)
+    ap.add_argument("--es_min_delta", type=float, default=2e-4)
+
+    # logs/ckpt
+    ap.add_argument("--save_every", type=int, default=0)
+    ap.add_argument("--resume", action="store_true")
+
+    ap.add_argument("--main_class", type=str, default=None)
+
+    args = ap.parse_args()
+
+    seed_everything(args.seed)
+
+    with open(args.config, "r") as f:
+        config = json.load(f)
+
+    MODELO = config["camera"]
+    MODEL_NAME = config["model_name"]
+    RESOLUCAO = config["resolucao"]
+    ROI_INICIO = config["roi_inicio"]
+    ROI_TAMANHO = config["roi_tamanho"]
+    BACKBONE = config["backbone"]
+    MAIN_CLASS_NAME = str(config.get("main_class_name", "erva")).lower()
+    if args.main_class is not None:
+        MAIN_CLASS_NAME = args.main_class.lower()
+
+    dataset_path = os.path.join(MODELO, "dataset")
+    labelmap_path = os.path.join(dataset_path, "labelmap.txt")
+
+    # save paths
+    save_path = os.path.join(MODELO, "backup", config["modelo"], MODEL_NAME + "_dual")
+    os.makedirs(save_path, exist_ok=True)
+    last_ckpt_path = os.path.join(save_path, "last.pt")
+    best_miou_path = os.path.join(save_path, "best_miou.pt")
+    best_main_path = os.path.join(save_path, "best_main.pt")
+    best_corr_path = os.path.join(save_path, "best_corr.pt")
+
+    device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+    print("Device:", device)
+
+    # seus splits estão em train/group/... então o ROISegDataset deve saber ler de lá
+    split_train = os.path.join(dataset_path, "split", "train")
+    split_val   = os.path.join(dataset_path, "split", "val")
+
+    ds_train_base = ROISegDataset(
+        split_train,
+        save_path, ROI_INICIO, ROI_TAMANHO,
+        RESOLUCAO[0], RESOLUCAO[1], labelmap_path
+    )
+
+    ds_val_base = ROISegDataset(
+        split_val,
+        save_path, ROI_INICIO, ROI_TAMANHO,
+        RESOLUCAO[0], RESOLUCAO[1], labelmap_path
+    )
+
+    ds_train = DualMaskROISegDataset(ds_train_base, split_train, ignore_index2=args.ignore_index2)
+    ds_val   = DualMaskROISegDataset(ds_val_base, split_val, ignore_index2=args.ignore_index2)
+
+    CLASS_NAMES = getattr(ds_train_base, "classes", None)
+    if CLASS_NAMES is None:
+        raise RuntimeError("ROISegDataset precisa expor .classes (list ou dict).")
+
+    if isinstance(CLASS_NAMES, list):
+        num_classes = len(CLASS_NAMES)
+        class_id_by_name = {n.lower(): i for i, n in enumerate(CLASS_NAMES)}
+        class_name_by_id = {i: n for i, n in enumerate(CLASS_NAMES)}
+    elif isinstance(CLASS_NAMES, dict):
+        if all(isinstance(k, int) for k in CLASS_NAMES.keys()):
+            num_classes = len(CLASS_NAMES)
+            class_name_by_id = {int(k): str(v) for k, v in CLASS_NAMES.items()}
+            class_id_by_name = {str(v).lower(): int(k) for k, v in CLASS_NAMES.items()}
+        else:
+            class_id_by_name = {str(k).lower(): int(v) for k, v in CLASS_NAMES.items()}
+            num_classes = len(class_id_by_name)
+            class_name_by_id = {v: k for k, v in class_id_by_name.items()}
+    else:
+        raise RuntimeError("Formato de .classes não reconhecido.")
+
+    main_class_id = class_id_by_name.get(MAIN_CLASS_NAME, None)
+    if main_class_id is None:
+        print(f"[WARN] main_class_name='{MAIN_CLASS_NAME}' não encontrado. best_main_iou usa mIoU.")
+    else:
+        print(f"Main class: '{MAIN_CLASS_NAME}' -> id={main_class_id}")
+
+
+    dl_train = DataLoader(
+        ds_train,
+        batch_size=args.batch,
+        shuffle=True,
+        num_workers=args.num_workers,
+        pin_memory=(device.type == "cuda"),
+        collate_fn=default_collate_dual
+    )
+    dl_val = DataLoader(
+        ds_val,
+        batch_size=args.batch,
+        shuffle=False,
+        num_workers=max(0, args.num_workers // 2),
+        pin_memory=(device.type == "cuda"),
+        collate_fn=default_collate_dual
+    )
+
+    # model base SegFormer
+    base_model = SegformerForSemanticSegmentation.from_pretrained(
+        BACKBONE,
+        num_labels=num_classes,
+        ignore_mismatched_sizes=True,
+        use_safetensors=True,  # <- evita torch.load do .bin
+    )
+    base_model.config.output_hidden_states = True
+    base_model.to(device)
+
+    # descobre feat_ch via dummy forward (mais robusto)
+    with torch.no_grad():
+        dummy = torch.zeros((1, 3, 512, 512), device=device)
+        out = base_model(pixel_values=dummy)
+        feat_ch = None
+        if hasattr(out, "hidden_states") and out.hidden_states is not None:
+            feat_ch = int(out.hidden_states[-1].shape[1])
+        else:
+            feat_ch = int(out.logits.shape[1])  # fallback
+    corridor_head = CorridorHead(feat_ch=feat_ch, num_classes=num_classes, hidden=256, dropout=0.1).to(device)
+    print(f"[corridor_head] in_ch = feat({feat_ch}) + logits_seg({num_classes}) = {corridor_head.in_ch}")
+
+    # losses
+    class_weights = None
+    if args.use_weights:
+        w = estimate_class_weights_from_ds(ds_train_base, num_classes=num_classes, ignore_index=args.ignore_index, max_samples=args.cw_max_samples)
+        class_weights = w.to(device)
+        print("[INFO] class_weights:", class_weights.detach().cpu().numpy().round(3).tolist())
+    criterion_seg = nn.CrossEntropyLoss(ignore_index=args.ignore_index, weight=class_weights)
+
+    pos_weight = None
+    if args.auto_pos_weight:
+        pw = estimate_pos_weight_from_masks2(ds_train, ignore_index2=args.ignore_index2, max_samples=args.pw_max_samples)
+        if pw is not None:
+            pos_weight = pw.to(device)
+            print("[INFO] pos_weight corredor (neg/pos):", float(pos_weight.item()))
+        else:
+            print("[INFO] pos_weight não estimável (sem positivos suficientes), usando None.")
+    bce_corr = nn.BCEWithLogitsLoss(pos_weight=pos_weight) if pos_weight is not None else nn.BCEWithLogitsLoss()
+
+    # optimizer (base + head)
+    params = list(base_model.parameters()) + list(corridor_head.parameters())
+    optimizer = torch.optim.AdamW(params, lr=args.lr, weight_decay=args.wd)
+
+    scaler = GradScaler(enabled=(args.amp and device.type == "cuda"))
+
+    # schedulers
+    cosine = None
+    if args.cosine_epochs and args.cosine_epochs > 0:
+        cosine = torch.optim.lr_scheduler.CosineAnnealingLR(
+            optimizer,
+            T_max=max(1, args.cosine_epochs),
+            eta_min=args.min_lr
+        )
+    plateau = torch.optim.lr_scheduler.ReduceLROnPlateau(
+        optimizer,
+        mode="min",
+        factor=args.plateau_factor,
+        patience=args.plateau_patience,
+        cooldown=args.plateau_cooldown,
+        min_lr=args.min_lr,
+        verbose=True
+    )
+    active_sched = "cosine" if cosine is not None else "plateau"
+
+    # resume
+    start_epoch = 1
+    best_miou = -1.0
+    best_main_iou = -1.0
+    best_corr_iou = -1.0
+
+    if args.resume and os.path.exists(last_ckpt_path):
+        ckpt = load_checkpoint(last_ckpt_path, base_model, corridor_head, optimizer=optimizer, scaler=scaler, map_location="cpu")
+        start_epoch = int(ckpt.get("epoch", 0)) + 1
+        best_miou = float(ckpt.get("best_miou", -1.0))
+        best_main_iou = float(ckpt.get("best_main_iou", -1.0))
+        best_corr_iou = float(ckpt.get("best_corr_iou", -1.0))
+        print(f"[RESUME] epoch={start_epoch} best_miou={best_miou:.4f} best_main_iou={best_main_iou:.4f} best_corr_iou={best_corr_iou:.4f}")
+
+    # early stopping
+    es = EarlyStopState(best=-1e9, bad_epochs=0, stopped=False)
+
+    for epoch in range(start_epoch, args.epochs + 1):
+        lr_now = optimizer.param_groups[0]["lr"]
+
+        # warmup
+        apply_warmup(optimizer, args.lr, epoch, args.warmup_epochs)
+        lr_now = optimizer.param_groups[0]["lr"]
+
+        # corr dice ramp
+        if args.corr_dice_max > 0 and args.corr_dice_ramp_epochs > 0:
+            corr_dice_mix = min(args.corr_dice_max, (epoch - 1) / float(args.corr_dice_ramp_epochs) * args.corr_dice_max)
+        else:
+            corr_dice_mix = 0.0
+
+        print(f"\n==== Epoch {epoch}/{args.epochs} | lr={lr_now:.2e} | lambda_corr={args.lambda_corr} | corr_dice={corr_dice_mix:.3f} | sched={active_sched} ====")
+
+        if device.type == "cuda":
+            torch.cuda.empty_cache()
+
+        tr = run_one_epoch_dual(
+            base_model=base_model,
+            corridor_head=corridor_head,
+            loader=dl_train,
+            optimizer=optimizer,
+            device=device,
+            num_classes=num_classes,
+            ignore_index1=args.ignore_index,
+            ignore_index2=args.ignore_index2,
+            criterion_seg=criterion_seg,
+            bce_corr=bce_corr,
+            lambda_corr=args.lambda_corr,
+            amp=args.amp,
+            scaler=scaler,
+            train=True,
+            grad_accum=max(1, args.grad_accum),
+            corridor_thr=args.corr_thr,
+            corr_dice_mix=corr_dice_mix
+        )
+
+        if device.type == "cuda":
+            torch.cuda.empty_cache()
+
+        va = run_one_epoch_dual(
+            base_model=base_model,
+            corridor_head=corridor_head,
+            loader=dl_val,
+            optimizer=None,
+            device=device,
+            num_classes=num_classes,
+            ignore_index1=args.ignore_index,
+            ignore_index2=args.ignore_index2,
+            criterion_seg=criterion_seg,
+            bce_corr=bce_corr,
+            lambda_corr=args.lambda_corr,
+            amp=args.amp_val,
+            scaler=None,
+            train=False,
+            grad_accum=1,
+            corridor_thr=args.corr_thr,
+            corr_dice_mix=corr_dice_mix
+        )
+
+        # scheduler step
+        if cosine is not None and epoch <= args.cosine_epochs:
+            cosine.step()
+        else:
+            active_sched = "plateau"
+            plateau.step(va["loss"])
+
+        main_iou = va["miou"] if main_class_id is None else va["iou_per_class"][main_class_id]
+        corr_iou = float(va["corr_iou"])
+
+        print(f"TRAIN: loss={tr['loss']:.4f} (seg={tr['loss_seg']:.4f} corr={tr['loss_corr']:.4f}) "
+              f"acc={tr['acc']:.4f} miou={tr['miou']:.4f} corr_iou={tr['corr_iou']:.4f} (t={tr['time_s']:.1f}s)")
+        print(f"VAL  : loss={va['loss']:.4f} (seg={va['loss_seg']:.4f} corr={va['loss_corr']:.4f}) "
+              f"acc={va['acc']:.4f} miou={va['miou']:.4f} main_iou={float(main_iou):.4f} "
+              f"corr_iou={va['corr_iou']:.4f} corr_acc={va['corr_acc']:.4f} (t={va['time_s']:.1f}s)")
+        print("IoU per class:", _pretty_iou(va["iou_per_class"], class_name_by_id))
+
+        # save last
+        save_checkpoint(
+            last_ckpt_path,
+            base_model,
+            corridor_head,
+            optimizer,
+            scaler=scaler,
+            epoch=epoch,
+            best_miou=best_miou,
+            best_main_iou=best_main_iou,
+            best_corr_iou=best_corr_iou,
+            extra={
+                "val_loss": va["loss"],
+                "val_miou": va["miou"],
+                "val_main_iou": float(main_iou),
+                "val_corr_iou": float(corr_iou),
+                "lr": optimizer.param_groups[0]["lr"],
+                "corr_dice_mix": corr_dice_mix
+            }
+        )
+
+        # save every
+        if args.save_every > 0 and (epoch % args.save_every == 0):
+            save_checkpoint(
+                os.path.join(save_path, f"epoch_{epoch:04d}.pt"),
+                base_model, corridor_head, optimizer, scaler=scaler,
+                epoch=epoch, best_miou=best_miou, best_main_iou=best_main_iou, best_corr_iou=best_corr_iou
+            )
+
+        # bests
+        if va["miou"] > best_miou:
+            best_miou = va["miou"]
+            save_checkpoint(best_miou_path, base_model, corridor_head, optimizer, scaler=scaler,
+                            epoch=epoch, best_miou=best_miou, best_main_iou=best_main_iou, best_corr_iou=best_corr_iou)
+            print(f"[BEST mIoU] {best_miou:.4f} -> saved: {best_miou_path}")
+
+        if float(main_iou) > best_main_iou:
+            best_main_iou = float(main_iou)
+            save_checkpoint(best_main_path, base_model, corridor_head, optimizer, scaler=scaler,
+                            epoch=epoch, best_miou=best_miou, best_main_iou=best_main_iou, best_corr_iou=best_corr_iou)
+            print(f"[BEST MAIN] {best_main_iou:.4f} -> saved: {best_main_path}")
+
+        if corr_iou > best_corr_iou:
+            best_corr_iou = corr_iou
+            save_checkpoint(best_corr_path, base_model, corridor_head, optimizer, scaler=scaler,
+                            epoch=epoch, best_miou=best_miou, best_main_iou=best_main_iou, best_corr_iou=best_corr_iou)
+            print(f"[BEST CORR] {best_corr_iou:.4f} -> saved: {best_corr_path}")
+
+        # early stopping
+        score = agg_metric(args.es_metric, va["miou"], float(main_iou), corr_iou)
+        if score > es.best + args.es_min_delta:
+            es.best = score
+            es.bad_epochs = 0
+            print(f"[ES] improved {args.es_metric} -> {score:.6f}")
+        else:
+            es.bad_epochs += 1
+            print(f"[ES] no improve ({es.bad_epochs}/{args.es_patience}) best={es.best:.6f} now={score:.6f}")
+            if es.bad_epochs >= args.es_patience:
+                print(f"🛑 Early stopping acionado (metric={args.es_metric}).")
+                break
+
+
+if __name__ == "__main__":
+    main()

Python/OAK/datasets/_9_test_fastscnn.py

@@ -213,7 +213,8 @@ def main():
             cv2.destroyAllWindows()
     else:
         # === Modo imagens (agrupado + fallback) ===
-        test_root = os.path.join(dataset_path, "split", split_folder)
+        #test_root = os.path.join(dataset_path, "split", split_folder)
+        test_root = os.path.join(dataset_path, "512x288")
 
         image_paths, mask_paths, groups_idx = collect_pairs_grouped(test_root, want_groups=args.groups)
         if not image_paths:

Python/OAK/datasets/_9_test_segformer_b3.py

@@ -0,0 +1,405 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+Teste/visualização do SegFormer (.pt) com suporte a estrutura AGRUPADA.
+
+- Modo imagens (dataset/512x288 ou split/test/...)
+- Modo câmera (--camera) no mesmo estilo do _9_test_fastscnn.py
+- ROI + resize_keep_width + overlay + legenda
+
+Requisitos:
+  pip install transformers timm
+
+Obs:
+  Este script assume que seus ids de classe batem com o labelmap.txt (mask em IDs 0..K-1).
+"""
+
+import json
+import os
+import time
+import cv2
+import glob
+import argparse
+import torch
+import numpy as np
+import depthai as dai
+from PIL import Image
+
+from transformers import SegformerForSemanticSegmentation
+
+# Reaproveita utilidades do seu projeto (iguais no script do FastSCNN)
+from utils import (
+    carregar_labelmap_completo, compute_roi_indices, converter_mask_ids_para_rgb,
+    desenhar_legenda_horizontal, desenhar_legenda_vertical, resize_keep_width
+)
+
+IMG_EXTS = (".jpg", ".jpeg", ".png")
+MSK_EXTS = (".png", ".jpg", ".jpeg")  # preferir .png quando houver
+
+
+def infer_ignore_id(ignore_rgb, default_id=255):
+    """Tenta inferir ID de ignore a partir do labelmap (mesma ideia do script FastSCNN)."""
+    if isinstance(ignore_rgb, (list, tuple)):
+        if len(ignore_rgb) == 1 and isinstance(ignore_rgb[0], (int, np.integer)):
+            return int(ignore_rgb[0])
+        if len(ignore_rgb) == 3:
+            return default_id
+    if isinstance(ignore_rgb, (int, np.integer)):
+        return int(ignore_rgb)
+    return default_id
+
+
+def list_groups(group_root):
+    if not os.path.isdir(group_root):
+        return []
+    out = []
+    for g in sorted(os.listdir(group_root)):
+        gdir = os.path.join(group_root, g)
+        if os.path.isdir(os.path.join(gdir, "images")) and os.path.isdir(os.path.join(gdir, "masks")):
+            out.append(g)
+    return out
+
+
+def mask_for_base(msk_dir, base):
+    """Encontra máscara correspondente, priorizando .png."""
+    best = None
+    for ext in MSK_EXTS:
+        cand = os.path.join(msk_dir, base + ext)
+        if os.path.isfile(cand):
+            if best is None:
+                best = cand
+            if os.path.splitext(cand)[1].lower() == ".png":
+                return cand
+    return best
+
+
+def collect_pairs_grouped(test_root, want_groups=None):
+    """Coleta pares img/mask de test_root com estrutura 'group/'."""
+    group_root = os.path.join(test_root, "group")
+    if not os.path.isdir(group_root):
+        return [], [], []
+    groups = list_groups(group_root)
+    if want_groups:
+        filt = {g.strip() for g in want_groups.split(",") if g.strip()}
+        groups = [g for g in groups if g in filt]
+
+    imgs, msks, groups_idx = [], [], []
+    for g in groups:
+        img_dir = os.path.join(group_root, g, "images")
+        msk_dir = os.path.join(group_root, g, "masks")
+        for p in sorted(glob.glob(os.path.join(img_dir, "*"))):
+            base, ext = os.path.splitext(os.path.basename(p))
+            if ext.lower() not in IMG_EXTS:
+                continue
+            m = mask_for_base(msk_dir, base)
+            if m:
+                imgs.append(p)
+                msks.append(m)
+                groups_idx.append(g)
+    return imgs, msks, groups_idx
+
+
+def collect_pairs_legacy(test_root):
+    """Coleta pares img/mask sem 'group/'."""
+    img_dir = os.path.join(test_root, "images")
+    msk_dir = os.path.join(test_root, "masks")
+    imgs, msks, groups_idx = [], [], []
+    for p in sorted(glob.glob(os.path.join(img_dir, "*"))):
+        base, ext = os.path.splitext(os.path.basename(p))
+        if ext.lower() not in IMG_EXTS:
+            continue
+        m = mask_for_base(msk_dir, base)
+        if m:
+            imgs.append(p)
+            msks.append(m)
+            groups_idx.append("legacy")
+    return imgs, msks, groups_idx
+
+
+def _extract_state_dict(ckpt):
+    """
+    Aceita:
+      - state_dict puro (dict de tensores)
+      - checkpoint com chaves comuns: state_dict / model_state_dict / model
+    """
+    if not isinstance(ckpt, dict):
+        return None
+
+    # caso já seja um state_dict puro
+    if any(isinstance(v, torch.Tensor) for v in ckpt.values()):
+        return ckpt
+
+    for k in ("state_dict", "model_state_dict", "model"):
+        if k in ckpt and isinstance(ckpt[k], dict):
+            return ckpt[k]
+
+    return None
+
+
+def load_segformer_from_checkpoint(
+    pt_path: str,
+    backbone: str,
+    num_classes: int,
+    device: torch.device,
+):
+    """
+    Carrega um SegFormer (B0, B1, B2, B3...) compatível com o treino:
+
+      - Cria o modelo via from_pretrained(backbone, num_labels=num_classes)
+      - Carrega o state_dict salvo pelo script de treino
+    """
+    ckpt = torch.load(pt_path, map_location="cpu", weights_only=True)
+    state_dict = _extract_state_dict(ckpt)
+    if state_dict is None:
+        raise RuntimeError(f"Não consegui extrair state_dict de {pt_path}. keys={list(ckpt.keys())}")
+
+    # limpar prefixos comuns
+    cleaned = {}
+    for k, v in state_dict.items():
+        nk = k
+        if nk.startswith("model."):
+            nk = nk[len("model."):]
+        if nk.startswith("module."):
+            nk = nk[len("module."):]
+        cleaned[nk] = v
+
+    # Cria o modelo igual ao treino (_8_train_segformer_b3.py)
+    model = SegformerForSemanticSegmentation.from_pretrained(
+        backbone,
+        num_labels=num_classes,
+        ignore_mismatched_sizes=True,
+        use_safetensors=True
+    )
+
+    missing, unexpected = model.load_state_dict(cleaned, strict=False)
+    print(f"[load] missing={len(missing)} unexpected={len(unexpected)}")
+    if missing:
+        print("[load] missing sample:", missing[:10])
+    if unexpected:
+        print("[load] unexpected sample:", unexpected[:10])
+
+    model.to(device).eval()
+    return model
+
+
+@torch.no_grad()
+def segformer_predict_ids(model, img_tensor):
+    """
+    img_tensor: [1,3,H,W] float32 normalizado.
+    retorna: pred_ids [H,W] (numpy int)
+    """
+    out = model(pixel_values=img_tensor)
+    logits = out.logits  # [B, C, h, w] (pode ser menor que input)
+    # Upsample logits para o tamanho do input
+    logits = torch.nn.functional.interpolate(
+        logits,
+        size=img_tensor.shape[-2:],
+        mode="bilinear",
+        align_corners=False
+    )
+    pred = torch.argmax(logits, dim=1)  # [B,H,W]
+    return pred.squeeze(0).cpu().numpy().astype(np.uint8)
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--camera", action="store_true", help="Usar câmera em vez de imagens")
+    parser.add_argument("--groups", type=str, default=None, help="Filtrar grupos (ex: chao,erva_cana)")
+    parser.add_argument("--split_folder", type=str, default="val", help="split padrão (se usar split/val/test)")
+    args = parser.parse_args()
+
+    device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+
+    # Lê config do projeto (mesmo padrão do fastscnn)
+    with open("config.json", "r") as f:
+        config = json.load(f)
+
+    MODELO = config["camera"]
+    MODEL_NAME = config["model_name"]
+    RESOLUCAO = config["resolucao"]          # [W,H] ex: [512,288]
+    ROI_INICIO = config["roi_inicio"]        # fração
+    ROI_TAMANHO = config["roi_tamanho"]      # fração
+    BACKBONE = config["backbone"]
+
+    model_to_use = config["model_to_use"]
+    dataset_path = os.path.join(MODELO, "dataset")
+    labelmap_path = os.path.join(dataset_path, "labelmap.txt")
+
+    # Backbone default (se não passar por argumento)
+    backbone = BACKBONE
+
+    # Caminho do .pt (se não passar por argumento)
+    model_path = os.path.join(MODELO, "backup", config["modelo"], MODEL_NAME)
+    model_name = ""
+    if model_to_use == "geral":
+        model_name = f"best_miou.pt"
+    elif model_to_use == "main_class":
+        model_name = f"best_main.pt"
+    else:
+        model_name = f"last.pt"
+    pt_path = os.path.join(model_path, model_name)
+
+    if not pt_path:
+        raise SystemExit(
+            "Faltou apontar o .pt do SegFormer.\n"
+            "Use: --pt caminho/do/best_miou.pt\n"
+            "ou adicione 'segformer_pt' no seu config.json."
+        )
+
+    # Labelmap
+    _, colormap_rgb, classes, ignore_rgb = carregar_labelmap_completo(labelmap_path)
+    ignore_id = infer_ignore_id(ignore_rgb, default_id=255)
+    num_classes = len(classes)
+    print(f"[cfg] classes={num_classes} | backbone={backbone}")
+    print(f"[cfg] pt={pt_path}")
+
+    # Modelo
+    model = load_segformer_from_checkpoint(pt_path, backbone=backbone, num_classes=num_classes, device=device)
+
+    # Normalização (ImageNet, padrão de muita coisa; se teu treino usou outro, troca aqui)
+    from _8_train_segformer_b3 import normalize_img
+
+    if args.camera:
+        # === Modo câmera (igual estilo do fastscnn) ===
+        pipeline = dai.Pipeline()
+        cam_rgb = pipeline.createColorCamera()
+        cam_rgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+        cam_rgb.setBoardSocket(dai.CameraBoardSocket.RGB)
+        cam_rgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)
+        cam_rgb.setInterleaved(False)
+        cam_rgb.setFps(30)
+
+        xout_rgb = pipeline.createXLinkOut()
+        xout_rgb.setStreamName("rgb")
+        cam_rgb.video.link(xout_rgb.input)
+
+        with dai.Device(pipeline) as oak_device:
+            rgb_queue = oak_device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
+
+            prev_time = time.time()
+            while True:
+                in_rgb = rgb_queue.get()
+                frame = in_rgb.getCvFrame()  # RGB
+                H, W = frame.shape[:2]
+                y_fim, y_inicio = compute_roi_indices(H, ROI_INICIO, ROI_TAMANHO)
+
+                roi = frame[y_fim:y_inicio, 0:W]
+                roi_resized = resize_keep_width(roi, RESOLUCAO[0], RESOLUCAO[1], cv2.INTER_AREA)
+
+                # tensor
+                roi_norm = roi_resized.astype(np.float32) / 255.0
+                img_tensor = torch.from_numpy(roi_norm).permute(2, 0, 1).unsqueeze(0).to(device)
+                img_tensor = normalize_img(img_tensor)
+                img_tensor = img_tensor.float()
+
+                pred_ids = segformer_predict_ids(model, img_tensor)
+
+                pred_rgb = converter_mask_ids_para_rgb(pred_ids, colormap_rgb, ignore_id)
+                pred_rgb_resized = cv2.resize(pred_rgb, (roi.shape[1], roi.shape[0]), interpolation=cv2.INTER_NEAREST)
+
+                overlay = frame.copy()
+                overlay[y_fim:y_inicio, 0:W] = cv2.addWeighted(
+                    overlay[y_fim:y_inicio, 0:W], 0.4, pred_rgb_resized, 0.6, 0
+                )
+
+                now = time.time()
+                fps = 1.0 / max(1e-6, (now - prev_time))
+                prev_time = now
+                cv2.putText(overlay, f"FPS: {fps:.1f}", (10, 30),
+                            cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 0), 2)
+
+                legenda = desenhar_legenda_vertical(colormap_rgb, classes)
+                legenda_resized = cv2.resize(legenda, (150, 30 * len(colormap_rgb)), interpolation=cv2.INTER_AREA)
+
+                h, w = overlay.shape[:2]
+                h_leg, w_leg = legenda_resized.shape[:2]
+                x_offset = w - w_leg - 10
+                y_offset = h - h_leg - 30
+                overlay[y_offset:y_offset + h_leg, x_offset:x_offset + w_leg] = legenda_resized
+
+                cv2.imshow("Segmentação SegFormer (OAK + PyTorch)", cv2.cvtColor(overlay, cv2.COLOR_RGB2BGR))
+                if cv2.waitKey(1) & 0xFF == ord('q'):
+                    break
+
+            cv2.destroyAllWindows()
+
+    else:
+        # === Modo imagens (agrupado + fallback) ===
+        # Igual teu fastscnn: você pode usar dataset/512x288 diretamente
+        test_root = os.path.join(dataset_path, "512x288")
+
+        image_paths, mask_paths, groups_idx = collect_pairs_grouped(test_root, want_groups=args.groups)
+        if not image_paths:
+            # fallback clássico
+            test_root = os.path.join(dataset_path, "split", args.split_folder)
+            image_paths, mask_paths, groups_idx = collect_pairs_grouped(test_root, want_groups=args.groups)
+        if not image_paths:
+            image_paths, mask_paths, groups_idx = collect_pairs_legacy(test_root)
+
+        assert len(image_paths) == len(mask_paths) and len(image_paths) > 0, "Nenhuma imagem/máscara encontrada."
+
+        idx = 0
+        window_name = "Original | GroundTruth | Predito (SegFormer)"
+        cv2.namedWindow(window_name, cv2.WINDOW_NORMAL) # permite redimensionar/maximizar
+        while True:
+            img_path = image_paths[idx]
+            mask_path = mask_paths[idx]
+            grupo = groups_idx[idx] if groups_idx else "?"
+
+            img_rgb = np.array(Image.open(img_path).convert("RGB"))
+            mask_gt = np.array(Image.open(mask_path).convert("L"))
+
+            H, W = img_rgb.shape[:2]
+            y_fim, y_inicio = compute_roi_indices(H, ROI_INICIO, ROI_TAMANHO)
+
+            img_roi = img_rgb[y_fim:y_inicio, 0:W]
+            mask_roi = mask_gt[y_fim:y_inicio, 0:W]
+
+            img_resized = resize_keep_width(img_roi, RESOLUCAO[0], RESOLUCAO[1], cv2.INTER_AREA)
+            mask_resized = resize_keep_width(mask_roi, RESOLUCAO[0], RESOLUCAO[1], cv2.INTER_NEAREST)
+
+            img_norm = img_resized.astype(np.float32) / 255.0
+            img_tensor = torch.from_numpy(img_norm).permute(2, 0, 1).unsqueeze(0).to(device)
+            img_tensor = normalize_img(img_tensor)
+            img_tensor = img_tensor.float()
+
+            pred_ids = segformer_predict_ids(model, img_tensor)
+
+            pred_rgb = converter_mask_ids_para_rgb(pred_ids, colormap_rgb, ignore_id)
+            mask_gt_rgb = converter_mask_ids_para_rgb(mask_resized, colormap_rgb, ignore_id)
+            #resultado = np.concatenate([img_resized, mask_gt_rgb, pred_rgb], axis=1)
+            # Overlay da predição sobre a imagem original
+            overlay_pred = cv2.addWeighted(img_resized, 0.6, pred_rgb, 0.4, 0.0)
+            resultado = np.concatenate([img_resized, mask_gt_rgb, overlay_pred], axis=1)
+
+            legenda = desenhar_legenda_horizontal(colormap_rgb, classes)
+            legenda_resized = cv2.resize(legenda, (resultado.shape[1], legenda.shape[0]), interpolation=cv2.INTER_NEAREST)
+            resultado_completo = np.concatenate([resultado, legenda_resized], axis=0)
+
+            cv2.putText(resultado_completo, f"grupo: {grupo}", (10, 24), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
+            # Converte pra BGR pra exibir
+            vis_bgr = cv2.cvtColor(resultado_completo, cv2.COLOR_RGB2BGR)
+            # Limites máximos da janela (ajusta se quiser)
+            MAX_WIDTH = 1600
+            MAX_HEIGHT = 900
+            h, w = vis_bgr.shape[:2]
+            scale = min(MAX_WIDTH / w, MAX_HEIGHT / h, 1.0)
+            if scale < 1.0:
+                new_w = int(w * scale)
+                new_h = int(h * scale)
+                vis_bgr = cv2.resize(vis_bgr, (new_w, new_h), interpolation=cv2.INTER_AREA)
+            cv2.imshow(window_name, vis_bgr)
+            key = cv2.waitKey(0) & 0xFF
+
+            if key == ord('q'):
+                break
+            elif key == ord('d'):
+                idx = (idx + 1) % len(image_paths)
+            elif key == ord('a'):
+                idx = (idx - 1 + len(image_paths)) % len(image_paths)
+
+        cv2.destroyAllWindows()
+
+
+if __name__ == "__main__":
+    main()

Python/OAK/datasets/_9_test_segformer_b3_dual.py

@@ -0,0 +1,570 @@
+import json
+import os
+import glob
+import argparse
+from dataclasses import dataclass
+from typing import List, Optional
+
+import cv2
+import numpy as np
+import torch
+import torch.nn as nn
+from transformers import SegformerForSemanticSegmentation
+
+
+# -----------------------------
+# Utils
+# -----------------------------
+def find_device():
+    return torch.device("cuda" if torch.cuda.is_available() else "cpu")
+
+def load_labelmap_lut_bgr(labelmap_path: str):
+    """
+    Lê labelmap no formato:
+      classe:r,g,b
+    Ignora linhas vazias e comentários '#'
+    Se existir 'ignore', retorna ignore_id=255 e ignore_bgr.
+
+    Retorna:
+      lut_bgr: dict[int, tuple(b,g,r)]
+      id_to_name: dict[int, str]
+      ignore_id: int (default 255)
+    """
+    lut_bgr = {}
+    id_to_name = {}
+    ignore_id = 255
+    ignore_bgr = (180, 0, 180)  # fallback
+
+    idx = 0
+    with open(labelmap_path, "r", encoding="utf-8") as f:
+        for line in f:
+            line = line.strip()
+            if not line or line.startswith("#"):
+                continue
+            parts = line.split(":")
+            if len(parts) < 2:
+                continue
+            name = parts[0].strip()
+            rgb_str = parts[1].strip()
+            r, g, b = map(int, rgb_str.split(","))
+            bgr = (b, g, r)
+
+            if name.lower() == "ignore":
+                ignore_bgr = bgr
+                continue
+
+            lut_bgr[idx] = bgr
+            id_to_name[idx] = name
+            idx += 1
+
+    lut_bgr[ignore_id] = ignore_bgr
+    return lut_bgr, id_to_name, ignore_id
+
+def imread_bgr(path: str) -> np.ndarray:
+    img = cv2.imread(path, cv2.IMREAD_COLOR)
+    if img is None:
+        raise RuntimeError(f"Falha ao ler imagem: {path}")
+    return img
+
+
+def imread_gray(path: str) -> np.ndarray:
+    m = cv2.imread(path, cv2.IMREAD_GRAYSCALE)
+    if m is None:
+        raise RuntimeError(f"Falha ao ler máscara: {path}")
+    return m
+
+
+def ensure_uint8(x: np.ndarray) -> np.ndarray:
+    if x.dtype == np.uint8:
+        return x
+    x = np.clip(x, 0, 255).astype(np.uint8)
+    return x
+
+
+def normalize01(x: np.ndarray, eps: float = 1e-6) -> np.ndarray:
+    x = x.astype(np.float32)
+    mn, mx = float(x.min()), float(x.max())
+    return (x - mn) / (mx - mn + eps)
+
+
+def colorize_seg(mask_ids: np.ndarray, lut_bgr: dict) -> np.ndarray:
+    h, w = mask_ids.shape[:2]
+    out = np.zeros((h, w, 3), dtype=np.uint8)
+
+    # pinta cada id presente
+    for cid, bgr in lut_bgr.items():
+        out[mask_ids == cid] = bgr
+
+    return out
+
+
+def overlay_mask(img_bgr: np.ndarray, mask_bgr: np.ndarray, alpha: float = 0.45) -> np.ndarray:
+    return cv2.addWeighted(img_bgr, 1.0 - alpha, mask_bgr, alpha, 0.0)
+
+
+def put_hud(img: np.ndarray, lines: List[str]) -> np.ndarray:
+    out = img.copy()
+    y = 22
+    for s in lines:
+        cv2.putText(out, s, (12, y), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (15, 15, 15), 3, cv2.LINE_AA)
+        cv2.putText(out, s, (12, y), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (245, 245, 245), 1, cv2.LINE_AA)
+        y += 22
+    return out
+
+
+# -----------------------------
+# Corridor Head (igual ao treino)
+# -----------------------------
+class CorridorHead(nn.Module):
+    """
+    Head simples:
+      feat (B,C,H,W) + logits_seg (B,K,H,W) -> concat -> convs -> 1 canal (logit corredor)
+    """
+    def __init__(self, feat_ch: int, num_classes: int, hidden: int = 256, dropout: float = 0.1):
+        super().__init__()
+        in_ch = feat_ch + num_classes
+        self.in_ch = in_ch
+        self.net = nn.Sequential(
+            nn.Conv2d(in_ch, hidden, kernel_size=3, padding=1),
+            nn.BatchNorm2d(hidden),
+            nn.ReLU(inplace=True),
+            nn.Dropout2d(dropout),
+            nn.Conv2d(hidden, hidden, kernel_size=3, padding=1),
+            nn.BatchNorm2d(hidden),
+            nn.ReLU(inplace=True),
+            nn.Dropout2d(dropout),
+            nn.Conv2d(hidden, 1, kernel_size=1)
+        )
+
+    def forward(self, feat: torch.Tensor, logits_seg: torch.Tensor) -> torch.Tensor:
+        x = torch.cat([feat, logits_seg], dim=1)
+        return self.net(x)
+
+
+# -----------------------------
+# Dataset discovery (split/test/group/**)
+# -----------------------------
+@dataclass
+class Sample:
+    img_path: str
+    mask_path: Optional[str]
+    mask2_path: Optional[str]
+    group_name: str
+    filename: str
+
+
+IMG_EXTS = (".png", ".jpg", ".jpeg", ".bmp", ".tif", ".tiff", ".webp")
+
+
+def discover_samples(split_root: str) -> List[Sample]:
+    """
+    Espera estrutura:
+      split/test/group/<qualquer>/images/*.png
+      split/test/group/<qualquer>/masks/*.png
+      split/test/group/<qualquer>/masks2/*.png   (opcional, mas recomendado)
+    """
+    group_root = os.path.join(split_root, "group")
+    if not os.path.isdir(group_root):
+        raise RuntimeError(f"Não achei pasta: {group_root}")
+
+    samples: List[Sample] = []
+
+    # pega qualquer images/ em qualquer subpasta de group
+    img_dirs = glob.glob(os.path.join(group_root, "**", "images"), recursive=True)
+    img_dirs = [d for d in img_dirs if os.path.isdir(d)]
+
+    for idir in img_dirs:
+        base = os.path.dirname(idir)  # .../group/<grupo_ou_subgrupo>
+        group_name = os.path.relpath(base, group_root).replace("\\", "/")
+
+        mdir = os.path.join(base, "masks")
+        m2dir = os.path.join(base, "masks2")
+
+        img_paths = []
+        for ext in IMG_EXTS:
+            img_paths.extend(glob.glob(os.path.join(idir, f"*{ext}")))
+        img_paths = sorted(img_paths)
+
+        def find_mask(dir_path: str, filename: str):
+            stem, _ = os.path.splitext(filename)
+            for ext in [".png", ".jpg", ".jpeg", ".bmp", ".tif"]:
+                p = os.path.join(dir_path, stem + ext)
+                if os.path.exists(p):
+                    return p
+            return None
+
+        for ip in img_paths:
+            fn = os.path.basename(ip)
+
+            mask_path  = find_mask(mdir, fn)
+            mask2_path = find_mask(m2dir, fn)
+
+            samples.append(Sample(
+                img_path=ip,
+                mask_path=mask_path,
+                mask2_path=mask2_path,
+                group_name=group_name,
+                filename=fn
+            ))
+
+    if len(samples) == 0:
+        raise RuntimeError(f"Nenhuma imagem encontrada em: {group_root}/**/images")
+    return samples
+
+
+# -----------------------------
+# Model loading
+# -----------------------------
+def build_models(num_classes: int, device: torch.device, backbone: str):
+    base_model = SegformerForSemanticSegmentation.from_pretrained(
+        backbone,
+        num_labels=num_classes,
+        ignore_mismatched_sizes=True,
+        use_safetensors=True,  # <- evita torch.load do .bin
+    )
+    base_model.to(device)
+    base_model.config.output_hidden_states = True
+
+    # descobre feat_ch real a partir de um forward fake
+    with torch.no_grad():
+        dummy = torch.zeros((1, 3, 512, 512), device=device)
+        out = base_model(pixel_values=dummy, output_hidden_states=True)
+        feat_ch = int(out.hidden_states[-1].shape[1])
+
+    in_ch = feat_ch + num_classes
+    corridor_head = CorridorHead(feat_ch=feat_ch, num_classes=num_classes, hidden=256, dropout=0.1)
+    print(f"[corridor_head] in_ch = feat({feat_ch}) + logits_seg({num_classes}) = {in_ch}")
+    return base_model, corridor_head
+
+
+def make_corridor_head(in_ch: int, mid: int = 256):
+    """
+    Cria CorridorHead independente de qual assinatura a classe tem no script.
+    Suporta:
+      - CorridorHead(in_ch=..., mid=...)
+      - CorridorHead(in_channels=..., hidden=...)
+      - CorridorHead(feat_ch=..., num_classes=...)  (quando in_ch = feat_ch + num_classes)
+    """
+    # 1) assinatura direta in_ch/mid
+    try:
+        return CorridorHead(in_ch=in_ch, mid=mid)
+    except TypeError:
+        pass
+
+    # 2) variações comuns
+    try:
+        return CorridorHead(in_channels=in_ch, mid=mid)
+    except TypeError:
+        pass
+
+    try:
+        return CorridorHead(in_channels=in_ch, hidden=mid)
+    except TypeError:
+        pass
+
+    # 3) assinatura "feat_ch + num_classes"
+    # aqui só funciona se for exatamente "feat_ch, num_classes"
+    # e se in_ch for decomponível (ex: 6 = 3+3 ou 515 = 512+3)
+    for feat_ch_guess, num_classes_guess in [(512, 3), (3, 3)]:
+        if feat_ch_guess + num_classes_guess == in_ch:
+            try:
+                return CorridorHead(feat_ch=feat_ch_guess, num_classes=num_classes_guess, hidden=mid)
+            except TypeError:
+                try:
+                    return CorridorHead(feat_ch=feat_ch_guess, num_classes=num_classes_guess)
+                except TypeError:
+                    pass
+
+    raise RuntimeError(
+        f"Não consegui instanciar CorridorHead para in_ch={in_ch}. "
+        f"Verifique a assinatura do __init__() da classe CorridorHead no script."
+    )
+
+def load_dual_checkpoint(ckpt_path, base_model, corridor_head, device):
+    ckpt = torch.load(ckpt_path, map_location="cpu", weights_only=False)
+
+    base_model.load_state_dict(ckpt["model"], strict=True)
+
+    # >>> pega quantos canais o head do checkpoint espera
+    sd = ckpt["corridor_head"]
+    in_ch_ckpt = int(sd["net.0.weight"].shape[1])  # ex: 6 ou 515
+
+    # >>> recria head se o in_ch não bater
+    in_ch_model = int(corridor_head.net[0].in_channels)
+    if in_ch_model != in_ch_ckpt:
+        print(f"[corridor_head] rebuild: in_ch_model={in_ch_model} -> in_ch_ckpt={in_ch_ckpt}")
+        corridor_head = make_corridor_head(in_ch=in_ch_ckpt, mid=256)
+
+    corridor_head.load_state_dict(sd, strict=True)
+
+    base_model.to(device).eval()
+    corridor_head.to(device).eval()
+    meta = ckpt.get("meta", {})
+    return meta, corridor_head
+
+
+# -----------------------------
+# Inference
+# -----------------------------
+def run_corridor_head(corridor_head, x_rgb, feat, logits_seg):
+    import inspect
+    import torch.nn.functional as F
+
+    n_args = len(inspect.signature(corridor_head.forward).parameters)
+
+    # descobre in_ch esperado pela primeira conv do head
+    in_ch = None
+    if hasattr(corridor_head, "net"):
+        try:
+            in_ch = int(corridor_head.net[0].in_channels)
+        except Exception:
+            in_ch = None
+
+    # prepara entradas conforme o head
+    if in_ch == 6:
+        # RGB(3) + probs(3)
+        probs = torch.softmax(logits_seg, dim=1)
+        if probs.shape[-2:] != x_rgb.shape[-2:]:
+            probs = F.interpolate(probs, size=x_rgb.shape[-2:], mode="bilinear", align_corners=False)
+        feat_in = x_rgb
+        logits_in = probs
+    else:
+        # feat(512) + logits(3)
+        if logits_seg.shape[-2:] != feat.shape[-2:]:
+            logits_in = F.interpolate(logits_seg, size=feat.shape[-2:], mode="bilinear", align_corners=False)
+        else:
+            logits_in = logits_seg
+        feat_in = feat
+
+    # chama do jeito que o head espera
+    if n_args == 2:
+        return corridor_head(feat_in, logits_in)
+    elif n_args == 1:
+        x2 = torch.cat([feat_in, logits_in], dim=1)
+        return corridor_head(x2)
+
+    raise RuntimeError(f"Assinatura inesperada: {inspect.signature(corridor_head.forward)}")
+
+@torch.no_grad()
+def infer_dual(base_model, corridor_head, img_bgr: np.ndarray, device: torch.device,
+              input_size: int = 512, corridor_thr: float = 0.5):
+    """
+    Retorna:
+      pred_ids_full: [H,W] uint8
+      prob_corr_full: [H,W] float32 (0..1)
+      bin_corr_full: [H,W] uint8 (0/255)
+    """
+    h0, w0 = img_bgr.shape[:2]
+
+    img_rgb = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2RGB)
+    img_res = cv2.resize(img_rgb, (input_size, input_size), interpolation=cv2.INTER_AREA)
+
+    x = torch.from_numpy(img_res).float() / 255.0
+    x = x.permute(2, 0, 1).unsqueeze(0).to(device)
+
+    out = base_model(pixel_values=x, output_hidden_states=True)
+    logits_seg = out.logits              # [B, 3, H, W]
+    feat = out.hidden_states[-1]         # [B, 512, h, w] (não vamos usar no modo 6)
+    
+    logits_corr = run_corridor_head(corridor_head, x, feat, logits_seg)
+
+    prob_corr = torch.sigmoid(logits_corr)[0, 0].detach().float().cpu().numpy()
+    bin_corr = (prob_corr >= corridor_thr).astype(np.uint8) * 255
+
+    pred_ids = torch.argmax(logits_seg, dim=1)[0].detach().cpu().numpy().astype(np.uint8)
+
+    # volta pro tamanho original
+    pred_ids_full = cv2.resize(pred_ids, (w0, h0), interpolation=cv2.INTER_NEAREST)
+    prob_corr_full = cv2.resize(prob_corr, (w0, h0), interpolation=cv2.INTER_LINEAR)
+    bin_corr_full = cv2.resize(bin_corr, (w0, h0), interpolation=cv2.INTER_NEAREST)
+
+    return pred_ids_full, prob_corr_full, bin_corr_full
+
+
+# -----------------------------
+# Viewer
+# -----------------------------
+def make_panel(sample: Sample , lut_bgr: dict, img_bgr: np.ndarray,
+               gt1: Optional[np.ndarray],
+               pred1: np.ndarray,
+               gt2: Optional[np.ndarray],
+               prob2: np.ndarray,
+               bin2: np.ndarray,
+               corridor_thr: float):
+    h, w = img_bgr.shape[:2]
+
+    pred1_col = colorize_seg(pred1, lut_bgr)
+    pred1_ov = overlay_mask(img_bgr, pred1_col, 0.45)
+
+    if gt1 is not None:
+        gt1_col = colorize_seg(gt1, lut_bgr)
+        gt1_ov = overlay_mask(img_bgr, gt1_col, 0.45)
+    else:
+        gt1_ov = img_bgr.copy()
+        gt1_col = np.zeros_like(img_bgr)
+
+    # --- PRED CORR (prob) sólido: verde=navegável, vermelho=bloqueado
+    prob = np.clip(prob2, 0.0, 1.0).astype(np.float32)
+    g = (prob * 255.0).astype(np.uint8)
+    r = ((1.0 - prob) * 255.0).astype(np.uint8)
+    b = np.zeros_like(g, dtype=np.uint8)
+    prob_solid = cv2.merge([b, g, r])  # BGR
+
+    # (opcional) desenha contorno do binário por cima do prob
+    edges = cv2.Canny(bin2, 50, 150)
+    prob_solid[edges > 0] = (255, 255, 255)
+
+    # --- PRED CORR (bin) sólido: branco=navegável, preto=bloqueado
+    bin2_solid = cv2.cvtColor(bin2, cv2.COLOR_GRAY2BGR)
+
+    if gt2 is not None:
+        gt2_vis = (gt2.copy()).astype(np.uint8)
+        gt2_vis[gt2_vis == 1] = 255
+        gt2_bgr = cv2.cvtColor(gt2_vis, cv2.COLOR_GRAY2BGR)
+        gt2_ov = overlay_mask(img_bgr, gt2_bgr, 0.35)
+    else:
+        gt2_ov = img_bgr.copy()
+
+    # monta grid
+    tile_w = 520
+    tile_h = int(tile_w * h / w)
+
+    def fit(im):
+        return cv2.resize(im, (tile_w, tile_h), interpolation=cv2.INTER_AREA)
+
+    row1 = np.concatenate([fit(img_bgr), fit(gt1_ov), fit(pred1_ov)], axis=1)
+    row2 = np.concatenate([fit(gt2_ov), fit(prob_solid), fit(bin2_solid)], axis=1)
+    panel = np.concatenate([row1, row2], axis=0)
+
+    hud = [
+        f"{sample.group_name}/{sample.filename}",
+        f"Corr thr={corridor_thr:.2f} | A/D navega | Q sai",
+        "Topo: IMG | GT SEG | PRED SEG",
+        "Baixo: GT CORR | PRED CORR (prob) | PRED CORR (bin)"
+    ]
+    panel = put_hud(panel, hud)
+    return panel
+
+
+def main():
+    ap = argparse.ArgumentParser()
+    ap.add_argument("--ckpt", type=str, default=None, help="Caminho do .pt (se não informar, usa best_miou.pt)")
+    ap.add_argument("--split", default="test", choices=["test", "val"], help="qual split usar")
+    ap.add_argument("--input_size", type=int, default=512)
+    ap.add_argument("--corr_thr", type=float, default=0.5)
+    args = ap.parse_args()
+
+    device = find_device()
+    print("Device:", device)
+
+    with open("config.json", "r") as f:
+        config = json.load(f)
+    MODELO = config["camera"]
+    MODEL_NAME    = config["model_name"]     # ex: "segformer_b3"
+    BACKBONE      = config["backbone"]
+    modelo_folder = config["modelo"]         # ex: "dif"
+    dataset_path = os.path.join(MODELO, "dataset")
+
+    split_root = os.path.join(dataset_path, "split", args.split)
+    if not os.path.isdir(split_root):
+        print(f"[WARN] split/{args.split} não existe. Vou usar split/val.")
+        split_root = os.path.join(dataset_path, "split", "val")
+
+    samples = discover_samples(split_root)
+    print(f"[INFO] samples: {len(samples)}  | split_root={split_root}")
+
+    labelmap_path = os.path.join(dataset_path, "labelmap.txt")  # ajusta se seu arquivo estiver em outro lugar
+    lut_bgr, id_to_name, ignore_id = load_labelmap_lut_bgr(labelmap_path)
+    print("[labelmap]", id_to_name)
+
+    # ---- Descobre checkpoint ----
+    if args.ckpt is not None:
+        ckpt_path = args.ckpt
+    else:
+        # Caminho padrão igual ao treino:
+        # save_path = MODELO/backup/modelo/model_name/raw4
+        save_path = os.path.join(MODELO, "backup", modelo_folder, f"{MODEL_NAME}_dual")
+        ckpt_path = os.path.join(save_path, "best_miou.pt")
+
+    if not os.path.isfile(ckpt_path):
+        raise SystemExit(f"Checkpoint não encontrado em: {ckpt_path}")
+
+    print(f"[model] ckpt = {ckpt_path}")
+
+    num_classes = len(id_to_name)
+    base_model, corridor_head = build_models(num_classes=num_classes, device=device, backbone=BACKBONE)
+    meta, corridor_head = load_dual_checkpoint(ckpt_path, base_model, corridor_head, device=device)
+    print(f"... epoch={meta.get('epoch')} best_miou={meta.get('best_miou')} best_main={meta.get('best_main_iou')} best_corr={meta.get('best_corr_iou')}")
+
+    idx = 0
+    win = "SegFormer Dual Viewer"
+    cv2.namedWindow(win, cv2.WINDOW_NORMAL)
+
+    while True:
+        s = samples[idx]
+        img = imread_bgr(s.img_path)
+
+        gt1 = imread_gray(s.mask_path) if s.mask_path else None
+        gt2 = imread_gray(s.mask2_path) if s.mask2_path else None
+
+        pred1, prob2, bin2 = infer_dual(
+            base_model=base_model,
+            corridor_head=corridor_head,
+            img_bgr=img,
+            device=device,
+            input_size=args.input_size,
+            corridor_thr=args.corr_thr
+        )
+
+        def dbg_mask(name, m):
+            if m is None:
+                print(f"[{name}] None")
+            else:
+                u = np.unique(m)
+                print(f"[{name}] shape={m.shape} dtype={m.dtype} unique={u[:20]}{'...' if len(u)>20 else ''}")
+
+        #dbg_mask("gt1(seg)", gt1)
+        #dbg_mask("gt2(corr)", gt2)
+
+        panel = make_panel(
+            sample=s,
+            lut_bgr=lut_bgr,
+            img_bgr=img,
+            gt1=gt1,
+            pred1=pred1,
+            gt2=gt2,
+            prob2=prob2,
+            bin2=bin2,
+            corridor_thr=args.corr_thr
+        )
+
+        cv2.imshow(win, panel)
+        k = cv2.waitKey(0) & 0xFF
+
+        # Q / ESC
+        if k in (ord('q'), 27):
+            break
+
+        # A (volta)
+        if k in (ord('a'), ord('A')):
+            idx = (idx - 1) % len(samples)
+            continue
+
+        # D (avança)
+        if k in (ord('d'), ord('D')):
+            idx = (idx + 1) % len(samples)
+            continue
+
+        # W/S muda threshold
+        if k in (ord('w'), ord('W')):
+            args.corr_thr = min(0.95, args.corr_thr + 0.05)
+            continue
+        if k in (ord('s'), ord('S')):
+            args.corr_thr = max(0.05, args.corr_thr - 0.05)
+            continue
+
+    cv2.destroyAllWindows()
+
+
+if __name__ == "__main__":
+    main()

Python/OAK/datasets/config.json

@@ -2,6 +2,7 @@
     "camera": "gal5000",
     "modelo": "segformer_b0",
     "model_name": "ndvi_big",
+    "dual_head": false,
     "main_class_name": "erva", 
     "es_classes": "", 
     "model_to_use": "geral",

Python/OAK/datasets/config_oak.json

@@ -0,0 +1,17 @@
+{
+    "camera": "oak-d",
+    "modelo": "segformer_b0",
+    "model_name": "nav",
+    "dual_head": false,
+    "main_class_name": "navegavel", 
+    "es_classes": "", 
+    "model_to_use": "geral",
+    "raw_size": [1296, 1028], 
+    "resolucao": [1024, 576], 
+    "roi_inicio": 0.0,
+    "roi_tamanho": 1.0,
+    "shaves": 3,
+    "channels": 3,
+    "use_ndvi": true,
+    "backbone": "nvidia/segformer-b0-finetuned-ade-512-512"
+}

Python/OAK/datasets/gal5000/dataset/labelmap.txt

@@ -0,0 +1,4 @@
+# label:color_rgb:parts:actions
+naopulverizar:128,0,0::
+pulverizar:0,128,0::
+ignore:255,255,255::

Python/OAK/datasets/test_fps.py

@@ -0,0 +1,113 @@
+from collections import deque
+import json
+import os
+import time
+import cv2
+import numpy as np
+import torch
+from gal5000.gal_service import Gal5000Camera
+from raw_segformer_service import RawSegformerService
+
+device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+print(f"Device: {device}")
+
+INFERIR = False
+
+cfg_path = r"config.json"
+
+# ---- Carrega config ----
+with open(cfg_path, "r") as f:
+    config = json.load(f)
+
+MODELO        = config["camera"]         # ex: "gal5000"
+MODEL_NAME    = config["model_name"]     # ex: "segformer_b3"
+modelo_folder = config["modelo"]         # ex: "dif"
+
+USE_NDVI  = bool(config.get("use_ndvi", False))
+CHANNELS  = int(config.get("channels", 4))
+RESOLUCAO = config["resolucao"]
+W, H      = RESOLUCAO[0], RESOLUCAO[1]
+preview_w = RESOLUCAO[0]
+preview_h = RESOLUCAO[1]
+fps_window = 30
+
+if INFERIR:
+    save_path = os.path.join(MODELO, "backup", modelo_folder, MODEL_NAME, f"raw{CHANNELS}")
+    ckpt_path = os.path.join(save_path, "best_miou.pt")
+    
+    # ---- Instancia service do modelo RAW (4 ou 5 canais) ----
+    model_svc = RawSegformerService(
+        config_path=cfg_path,
+        ckpt_path=ckpt_path,
+        device=device,
+        use_amp=True,
+    )
+
+print("[mode] Câmera ao vivo (GAL5000 + SegFormer RAW)")
+cam = Gal5000Camera(raw_w=W, raw_h=H, use_auto_exposure=True)
+
+win = "GAL5000 RAW + SegFormer (Q=quit)"
+cv2.namedWindow(win, cv2.WINDOW_NORMAL)
+
+tq = deque(maxlen=max(5, int(fps_window)))
+
+with cam:
+    #cam.configure_scaling_and_fps(bin_h=2, bin_v=2, dec_h=1, dec_v=1, fps=20.0)
+    cam.configure_fps(fps_window)
+    cam.start_streaming()
+    
+    while True:
+        t0 = time.time()
+
+        # raw4_base: (4,H,W) float32 0..1 [R,G,IR,B] já redimensionado
+        raw4_base, dbg = cam.grab_raw4(out_h=preview_h, out_w=preview_w, timeout_ms=2000)
+
+        # Separa canais básicos
+        r  = raw4_base[0]
+        g  = raw4_base[1]
+        ir = raw4_base[2]
+        b  = raw4_base[3]
+
+        if INFERIR:
+            # Deixa o service montar a entrada final com 4 ou 5 canais
+            # (R,G,IR,B) | (R,G,B,NDVI) | (R,G,B,IR,NDVI)
+            raw_input = model_svc.build_raw_input(r, g, ir, b)  # (C,H,W) float32 0..1
+            # Inferência + previews via service
+            pred_ids, rgb, pred_rgb, overlay, t_inf, t_pvw = model_svc.infer_and_preview(raw_input)
+        else:
+            rgb = np.stack([r, g, b], axis=0)      # (3,H,W)
+            rgb = (rgb * 255.0).clip(0, 255).astype("uint8")
+            overlay = np.transpose(rgb, (1, 2, 0))  # (H,W,3) -> formato OpenCV
+
+        overlay = np.ascontiguousarray(overlay)
+        if overlay.dtype != np.uint8:
+            overlay = overlay.astype(np.uint8)
+
+        tq.append(time.time() - t0)
+        fps = 1.0 / (sum(tq) / len(tq))
+
+        status = cam.get_status()
+        
+        shape = dbg["raw_shape"]
+        lat = dbg["latency_s"] * 1000
+        tc  = dbg.get("t_capture", 0) * 1000
+        tconv = dbg.get("t_convert", 0) * 1000
+        t_ae = dbg.get("t_ae", 0) * 1000
+        
+        lines = [
+            f"{preview_w}x{preview_h} | FPS~{fps:.1f} | {shape}",
+            f"EX={status['exp_raw']}  G={status['gain_a']}/{status['gain_d']}",
+            f"C={CHANNELS}  NDVI={int(USE_NDVI)}",
+            f"cap={tc:.1f}ms   ae={t_ae:.1f}ms   conv={tconv:.1f}ms",
+        ]
+        y = 24
+        for line in lines:
+            cv2.putText(overlay, line, (12, y), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 255, 255), 1, cv2.LINE_AA)
+            y += 22
+
+        cv2.imshow(win, cv2.cvtColor(overlay, cv2.COLOR_RGB2BGR))
+        k = cv2.waitKey(1) & 0xFF
+        if k in (ord("q"), ord("Q"), 27):
+            break
+
+cv2.destroyAllWindows()

Python/OAK/detect_corridor_edges.py

@@ -0,0 +1,465 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+Detecta "corredor entre evidências de cana" (moitas ou parede contínua)
+e desenha os limites (bordas internas) encontrados ao longo das bandas.
+
+Uso:
+  python corridor_edges_debug.py --img path/para/mask.png --out out.png --show
+
+Obs:
+- Espera máscara BGR (cana=(0,128,0), chão=(0,0,128), obst=(128,0,0)) igual as tuas.
+- Funciona mesmo quando a cana é falhada (moitas): ele acha borda interna por banda,
+  e depois "ponteia" gaps interpolando.
+"""
+
+import argparse
+import cv2
+import numpy as np
+
+
+# ------------------------- helpers -------------------------
+
+def color_mask_bgr(img_bgr: np.ndarray, bgr: tuple[int, int, int], tol: int = 40) -> np.ndarray:
+    """Retorna máscara binária (0/255) para pixels próximos da cor BGR."""
+    target = np.array(bgr, dtype=np.int16).reshape(1, 1, 3)
+    img16 = img_bgr.astype(np.int16)
+    diff = np.abs(img16 - target)
+    ok = (diff[:, :, 0] <= tol) & (diff[:, :, 1] <= tol) & (diff[:, :, 2] <= tol)
+    return (ok.astype(np.uint8) * 255)
+
+
+def _safe_smooth_k(W: int, k: int) -> int:
+    k = int(k)
+    if k < 3:
+        return 3
+    if k % 2 == 0:
+        k += 1
+    if k >= W:
+        k = W - 1 if (W - 1) % 2 == 1 else W - 2
+    return max(3, k)
+
+
+def smooth_1d(x: np.ndarray, k: int) -> np.ndarray:
+    """Suaviza 1D com janela uniforme."""
+    k = int(k)
+    if k <= 1:
+        return x
+    pad = k // 2
+    xp = np.pad(x, (pad, pad), mode="edge")
+    kernel = np.ones(k, dtype=np.float32) / float(k)
+    y = np.convolve(xp, kernel, mode="valid")
+    return y.astype(np.float32)
+
+
+def run_lengths(mask_bool: np.ndarray) -> tuple[int, int, int]:
+    """
+    Retorna (best_len, best_start, best_end_inclusive) do maior run True.
+    Robusto para runs encostando nas bordas e para qualquer mismatch starts/ends.
+    """
+    if mask_bool is None or mask_bool.size == 0:
+        return 0, -1, -1
+
+    a = (mask_bool.astype(np.uint8) > 0).astype(np.uint8)
+
+    # padding garante fechamento de runs
+    ap = np.pad(a, (1, 1), mode="constant", constant_values=0)
+    d = np.diff(ap)
+
+    starts = np.where(d == 1)[0]
+    ends   = np.where(d == -1)[0] - 1  # inclusive, ainda no espaço de ap
+
+    # defensivo: se por algum bug ends vier menor que starts, força fechar no final
+    if starts.size > ends.size:
+        ends = np.concatenate([ends, np.array([len(ap) - 2], dtype=ends.dtype)])  # -2 pq último índice válido do miolo
+
+    if ends.size > starts.size:
+        ends = ends[:starts.size]
+
+    if starts.size == 0:
+        return 0, -1, -1
+
+    lens = (ends - starts + 1)
+    j = int(np.argmax(lens))
+
+    best_len = int(lens[j])
+    best_start = int(starts[j] - 1)  # remove padding
+    best_end   = int(ends[j] - 1)
+
+    # clamp no range original
+    best_start = max(0, min(best_start, len(a) - 1))
+    best_end   = max(0, min(best_end,   len(a) - 1))
+    if best_end < best_start:
+        return 0, -1, -1
+
+    return best_len, best_start, best_end
+
+
+def runs_from_bool(b: np.ndarray):
+    """
+    Retorna lista de runs (start, end, len) onde b é True.
+    Robusto pra array vazio / sem True.
+    """
+    b = np.asarray(b, dtype=bool)
+    n = b.size
+    if n == 0:
+        return []
+
+    # detecta mudanças
+    x = b.astype(np.int8)
+    d = np.diff(x)
+
+    starts = list(np.where(d == 1)[0] + 1)
+    ends   = list(np.where(d == -1)[0])
+
+    if b[0]:
+        starts = [0] + starts
+    if b[-1]:
+        ends = ends + [n - 1]
+
+    if len(starts) != len(ends):
+        # safety net (não deveria acontecer, mas já vi em debug)
+        k = min(len(starts), len(ends))
+        starts, ends = starts[:k], ends[:k]
+
+    runs = []
+    for s, e in zip(starts, ends):
+        if e >= s:
+            runs.append((int(s), int(e), int(e - s + 1)))
+    return runs
+
+
+def pick_left_inner_edge(left_bool: np.ndarray, min_run: int):
+    """
+    Parede esquerda: quer a borda interna, então escolhe o run cuja ponta direita (end)
+    é mais próxima do centro (maior end), desde que len >= min_run.
+    Retorna (x_end, best_len) ou (None, 0).
+    """
+    runs = runs_from_bool(left_bool)
+    cand = [r for r in runs if r[2] >= min_run]
+    if not cand:
+        return None, 0
+    # escolhe o run mais interno: maior end
+    s, e, L = max(cand, key=lambda r: r[1])
+    return e, L
+
+
+def pick_right_inner_edge(right_bool: np.ndarray, min_run: int):
+    """
+    Parede direita: quer a borda interna, então escolhe o run cujo início (start)
+    é mais próximo do centro (menor start), desde que len >= min_run.
+    Retorna (x_start, best_len) ou (None, 0).
+    """
+    runs = runs_from_bool(right_bool)
+    cand = [r for r in runs if r[2] >= min_run]
+    if not cand:
+        return None, 0
+    # escolhe o run mais interno: menor start
+    s, e, L = min(cand, key=lambda r: r[0])
+    return s, L
+
+
+# ------------------------- core -------------------------
+
+def detect_inner_edges_per_band(
+    mask_bgr: np.ndarray,
+    bands: int = 15,
+    y0_frac: float = 0.10,
+    y1_frac: float = 0.90,
+    tol_color: int = 40,
+    smooth_k: int = 51,
+    cane_thr: float = 0.10,
+    side_min_run_frac: float = 0.04,
+    side_min_density: float = 0.12,
+    edge_density_win_frac: float = 0.06,
+    center_margin_frac: float = 0.08,
+):
+    H, W = mask_bgr.shape[:2]
+    smooth_k = _safe_smooth_k(W, smooth_k)
+
+    CANA_BGR = (0, 128, 0)
+    m_cana = color_mask_bgr(mask_bgr, CANA_BGR, tol=tol_color)
+    m_cana_f = (m_cana > 0).astype(np.float32)
+
+    y0 = int(H * y0_frac)
+    y1 = int(H * y1_frac)
+    if y1 <= y0 + 20:
+        y0 = int(H * 0.5)
+        y1 = int(H * 0.95)
+
+    band_h = max(10, (y1 - y0) // max(1, bands))
+    x_mid = W // 2
+
+    prev_center = None
+    prev_xL = None
+    prev_xR = None
+
+    cm = int(W * center_margin_frac)
+    left_search_end = max(1, x_mid - cm)
+    right_search_start = min(W - 1, x_mid + cm)
+
+    min_run = max(2, int(W * side_min_run_frac))
+    win = max(5, int(W * edge_density_win_frac))
+
+    bands_info = []
+    for bi in range(bands):
+        ya = y0 + bi * band_h
+        yb = min(y1, ya + band_h)
+        if yb <= ya + 5:
+            continue
+
+        # 1) define referência do centro (corredor) para esta banda
+        if prev_center is None:
+            x_ref = W // 2
+        else:
+            x_ref = int(prev_center)
+
+        cm = int(W * center_margin_frac)
+
+        left_search_end = max(1, x_ref - cm)
+        right_search_start = min(W - 1, x_ref + cm)
+
+        band = m_cana_f[ya:yb, :]
+        cane_score = np.mean(band, axis=0)
+        cane_score = smooth_1d(cane_score, smooth_k)
+
+        # --------- ESQUERDA (pega run mais interno) ----------
+        left_region = cane_score[:left_search_end]
+        left_bool = left_region >= cane_thr
+
+        left_e, left_best_len = pick_left_inner_edge(left_bool, min_run=min_run)
+        xL = int(left_e) if left_e is not None else None
+
+        left_density_ok = False
+        if xL is not None:
+            # densidade medida em cane_score (mais consistente)
+            x0 = max(0, xL - win + 1)
+            x1 = xL + 1
+            left_density = float(np.mean(cane_score[x0:x1]))
+            left_density_ok = (left_density >= side_min_density)
+            if not left_density_ok:
+                xL = None
+
+        # --------- DIREITA (pega run mais interno) ----------
+        right_region = cane_score[right_search_start:]
+        right_bool = right_region >= cane_thr
+
+        right_s, right_best_len = pick_right_inner_edge(right_bool, min_run=min_run)
+        xR = (right_search_start + int(right_s)) if right_s is not None else None
+
+        right_density_ok = False
+        if xR is not None:
+            x0 = xR
+            x1 = min(W, xR + win)
+            right_density = float(np.mean(cane_score[x0:x1]))
+            right_density_ok = (right_density >= side_min_density)
+            if not right_density_ok:
+                xR = None
+
+        # corredor válido na banda
+        band_mid_y = int(0.5 * (ya + yb))
+        ok_band = (xL is not None) and (xR is not None) and (xR > xL + 10)
+
+        if xL is not None and xR is not None:
+            prev_xL = xL
+            prev_xR = xR
+            prev_center = 0.5 * (xL + xR)
+        elif xL is not None and prev_xR is not None:
+            prev_xL = xL
+            prev_center = 0.5 * (xL + prev_xR)
+        elif xR is not None and prev_xL is not None:
+            prev_xR = xR
+            prev_center = 0.5 * (prev_xL + xR)
+
+        width_frac = None
+        center_frac = None
+        if ok_band:
+            width_frac = float(xR - xL) / max(1, W)
+            center_frac = float(0.5 * (xL + xR)) / max(1, (W - 1))
+
+        bands_info.append({
+            "bi": bi,
+            "ya": ya,
+            "yb": yb,
+            "y": band_mid_y,
+            "xL": xL,
+            "xR": xR,
+            "ok": bool(ok_band),
+            "center_frac": center_frac,
+            "width_frac": width_frac,
+            "dbg": {
+                "left_best_len": int(left_best_len),
+                "right_best_len": int(right_best_len),
+                "min_run": int(min_run),
+                "left_density_ok": bool(left_density_ok),
+                "right_density_ok": bool(right_density_ok),
+                "left_search_end": int(left_search_end),
+                "right_search_start": int(right_search_start),
+            }
+        })
+
+    return bands_info, m_cana
+
+
+def bridge_edges(bands_info: list[dict], max_gap_bands: int = 4):
+    """
+    Interpola gaps (bandas onde faltou xL/xR) se a lacuna entre evidências
+    for <= max_gap_bands.
+    """
+    # índices válidos para cada lado
+    ys = [b["y"] for b in bands_info]
+
+    def bridge_key(key: str):
+        xs = [b[key] for b in bands_info]
+        # positions with value
+        idx = [i for i, v in enumerate(xs) if v is not None]
+        if len(idx) < 2:
+            return xs  # nada pra ponteiar
+        xs2 = xs[:]
+        for a, b in zip(idx[:-1], idx[1:]):
+            gap = b - a - 1
+            if gap <= 0:
+                continue
+            if gap > max_gap_bands:
+                continue
+            xa = xs[a]
+            xb = xs[b]
+            if xa is None or xb is None:
+                continue
+            for t, i in enumerate(range(a + 1, b)):
+                alpha = (t + 1) / float(gap + 1)
+                xs2[i] = int(round((1 - alpha) * xa + alpha * xb))
+        return xs2
+
+    xL_br = bridge_key("xL")
+    xR_br = bridge_key("xR")
+
+    out = []
+    for i, b in enumerate(bands_info):
+        bb = dict(b)
+        bb["xL_br"] = xL_br[i]
+        bb["xR_br"] = xR_br[i]
+        bb["ok_br"] = (bb["xL_br"] is not None) and (bb["xR_br"] is not None) and (bb["xR_br"] > bb["xL_br"] + 10)
+        if bb["ok_br"]:
+            bb["center_br"] = float(0.5 * (bb["xL_br"] + bb["xR_br"])) / max(1, (bb.get("yb", 0) * 0 + (bands_info[0].get("yb", 1))) )  # dummy (não usamos)
+        out.append(bb)
+    return out
+
+
+def draw_debug(mask_bgr: np.ndarray, bands_br: list[dict], out_path: str, show: bool = False):
+    vis = mask_bgr.copy()
+    H, W = vis.shape[:2]
+
+    # desenha linhas por banda
+    ptsL = []
+    ptsR = []
+    ptsL_br = []
+    ptsR_br = []
+
+    for b in bands_br:
+        y = int(b["y"])
+
+        # linha horizontal da banda (bem leve)
+        cv2.line(vis, (0, y), (W - 1, y), (40, 40, 40), 1, cv2.LINE_AA)
+
+        xL = b.get("xL", None)
+        xR = b.get("xR", None)
+        if xL is not None:
+            ptsL.append((int(xL), y))
+            cv2.circle(vis, (int(xL), y), 4, (255, 255, 255), -1, cv2.LINE_AA)
+        if xR is not None:
+            ptsR.append((int(xR), y))
+            cv2.circle(vis, (int(xR), y), 4, (255, 255, 255), -1, cv2.LINE_AA)
+
+        # ponteado
+        xLb = b.get("xL_br", None)
+        xRb = b.get("xR_br", None)
+        if xLb is not None:
+            ptsL_br.append((int(xLb), y))
+            cv2.circle(vis, (int(xLb), y), 3, (0, 255, 255), -1, cv2.LINE_AA)
+        if xRb is not None:
+            ptsR_br.append((int(xRb), y))
+            cv2.circle(vis, (int(xRb), y), 3, (0, 255, 255), -1, cv2.LINE_AA)
+
+        if (xLb is not None) and (xRb is not None) and (xRb > xLb + 10):
+            # desenha o "corredor" por banda
+            cv2.line(vis, (int(xLb), y), (int(xRb), y), (0, 255, 255), 2, cv2.LINE_AA)
+
+    # desenha polilinhas (limites)
+    if len(ptsL_br) >= 2:
+        cv2.polylines(vis, [np.array(ptsL_br, dtype=np.int32)], False, (0, 255, 255), 2, cv2.LINE_AA)
+    if len(ptsR_br) >= 2:
+        cv2.polylines(vis, [np.array(ptsR_br, dtype=np.int32)], False, (0, 255, 255), 2, cv2.LINE_AA)
+
+    # original (não-ponteado) em cinza claro, pra comparar
+    if len(ptsL) >= 2:
+        cv2.polylines(vis, [np.array(ptsL, dtype=np.int32)], False, (200, 200, 200), 1, cv2.LINE_AA)
+    if len(ptsR) >= 2:
+        cv2.polylines(vis, [np.array(ptsR, dtype=np.int32)], False, (200, 200, 200), 1, cv2.LINE_AA)
+
+    #cv2.imwrite(out_path, vis)
+    #print(f"[OK] Salvo: {out_path}")
+
+    if show:
+        cv2.imshow("corridor_edges_debug", vis)
+        cv2.waitKey(0)
+        cv2.destroyAllWindows()
+
+
+# ------------------------- main -------------------------
+
+def main():
+    ap = argparse.ArgumentParser()
+    ap.add_argument("--img", required=True, help="Caminho da imagem (mask BGR).")
+    ap.add_argument("--out", default="corridor_debug_out.png", help="Saída anotada.")
+    ap.add_argument("--show", action="store_true", help="Abre janela com resultado.")
+    ap.add_argument("--bands", type=int, default=15)
+    ap.add_argument("--y0", type=float, default=0.0)
+    ap.add_argument("--y1", type=float, default=1.0)
+    ap.add_argument("--tol", type=int, default=40)
+    ap.add_argument("--smooth_k", type=int, default=51)
+    ap.add_argument("--cane_thr", type=float, default=0.10)
+    ap.add_argument("--side_min_run_frac", type=float, default=0.04)
+    ap.add_argument("--side_min_density", type=float, default=0.12)
+    ap.add_argument("--edge_density_win_frac", type=float, default=0.06)
+    ap.add_argument("--center_margin_frac", type=float, default=0.05)
+    ap.add_argument("--bridge_max_gap_bands", type=int, default=4)
+
+    args = ap.parse_args()
+
+    img = cv2.imread(args.img, cv2.IMREAD_COLOR)
+    if img is None:
+        raise SystemExit(f"Falhou ao ler imagem: {args.img}")
+
+    bands_info, m_cana = detect_inner_edges_per_band(
+        img,
+        bands=args.bands,
+        y0_frac=args.y0,
+        y1_frac=args.y1,
+        tol_color=args.tol,
+        smooth_k=args.smooth_k,
+        cane_thr=args.cane_thr,
+        side_min_run_frac=args.side_min_run_frac,
+        side_min_density=args.side_min_density,
+        edge_density_win_frac=args.edge_density_win_frac,
+        center_margin_frac=args.center_margin_frac,
+    )
+
+    # logs rápidos
+    n = len(bands_info)
+    ok = sum(1 for b in bands_info if b["ok"])
+    left_present = sum(1 for b in bands_info if b["xL"] is not None)
+    right_present = sum(1 for b in bands_info if b["xR"] is not None)
+    print(f"[bands] n={n} ok_both={ok} left_present={left_present} right_present={right_present}")
+
+    # ponteia
+    bands_br = bridge_edges(bands_info, max_gap_bands=args.bridge_max_gap_bands)
+    ok_br = sum(1 for b in bands_br if b["ok_br"])
+    print(f"[bridge] ok_both_after_bridge={ok_br} (max_gap_bands={args.bridge_max_gap_bands})")
+
+    # desenha
+    draw_debug(img, bands_br, args.out, show=args.show)
+
+
+if __name__ == "__main__":
+    main()