Merge branch 'op_control' of http://zendioninc.com.br:3000/Zendion/agrobot_base into op_control

Python/OAK/datasets/_0_capture_raw.py

@@ -196,7 +196,11 @@ def main():
                 gain_a = dbg.get("gain_a", None)
                 gain_d = dbg.get("gain_d", None)
 
-                bgr = make_bgr_preview_from_raw(raw4_base, rgirb=True, preview_fast=upscale > 0, preview_scale=upscale)
+                apply_ir_comp = True
+                ir_k_r = 0.4
+                ir_k_g = 0.1
+                ir_k_b = 0.5
+                bgr = make_bgr_preview_from_raw(raw4_base, rgirb=True, preview_fast=upscale > 0, preview_scale=upscale, apply_ir_comp=apply_ir_comp, ir_k_r=ir_k_r, ir_k_g=ir_k_g, ir_k_b=ir_k_b)
 
                 # FPS
                 frames += 1
@@ -243,6 +247,10 @@ def main():
                         "exp_raw": int(exp_raw) if exp_raw is not None else None,
                         "gain_a": int(gain_a) if gain_a is not None else None,
                         "gain_d": int(gain_d) if gain_d is not None else None,
+                        "apply_ir_comp": apply_ir_comp,
+                        "ir_k_r": ir_k_r,
+                        "ir_k_g": ir_k_g,
+                        "ir_k_b": ir_k_b,
                         "ae_dbg": {
                             k: (float(v) if isinstance(v, (int, float, np.floating)) else v)
                             for k, v in ae_dbg.items()

Python/OAK/datasets/_1_weeds_pair_sorter.py

@@ -43,8 +43,8 @@ except Exception as e:
     raise
 
 
-RGB_SUFFIXES = ["_rgb", "_RGB"]
-SEG_SUFFIXES = ["_segmentacao", "_seg", "_SEG", "_segment"]  # allow a few variations
+RGB_SUFFIXES = ["_rgb", "_RGB", "_Rgb"]
+SEG_SUFFIXES = ["_segmentacao", "_seg", "_SEG", "_segment", "_Segmentacao"]  # allow a few variations
 EXTS = [".jpeg", ".jpg", ".png"]
 
 

Python/OAK/datasets/_2_create_full_mask.py

@@ -19,8 +19,8 @@ PASTA_FINAL_IMAGES = os.path.join(MODELO, "dataset", "original", "images")    #
 PASTA_FINAL_MASKS  = os.path.join(MODELO, "dataset", "original", "masks")     # dataset final (máscaras)
 
 # Classe-alvo (RGB) para preencher a máscara sólida
-COR_CLASSE_RGB = (128, 0, 0)  # (R, G, B)
-COPIAR_IMAGENS = True
+COR_CLASSE_RGB = (0, 128, 0)  # (R, G, B)
+COPIAR_IMAGENS = False
 
 # Controle
 EXT_IMAGENS = (".jpg", ".jpeg", ".png")

Python/OAK/datasets/_5_augmentation_raw.py

@@ -274,8 +274,10 @@ def _load_raw(path: str, raw_hw) -> np.ndarray:
             g_full  = upsample(g_sub)
             ir_full = upsample(ir_sub)
             b_full  = upsample(b_sub)
-            # (H, W, 4) uint8 [R,G,B,IR]
-            arr = np.stack([r_full, g_full, b_full, ir_full], axis=-1).astype(np.uint8)
+            # (H, W, 4) uint8 [R,G,IR,B]
+            arr = np.stack([r_full, g_full, ir_full, b_full], axis=-1).astype(np.uint8)
+            # REORGANIZA PARA CONTRATO INTERNO [R,G,B,IR]
+            arr = arr[..., [0, 1, 3, 2]]
         elif size_bytes == raw4_bytes:
             # NOVO MODO: RAW4 float32 salvo pelo normalize
             arr_f32 = np.fromfile(path, dtype=np.float32)
@@ -317,7 +319,14 @@ def _scale_to_float01(raw: np.ndarray, max_value = None) -> np.ndarray:
 
 def save_raw_any(path, arr):
     arr = np.asarray(arr)
-    arr.tofile(path)
+
+    if arr.ndim == 3 and arr.shape[-1] == 4:
+        # arr está no contrato interno [R,G,B,IR]
+        arr_cam = internal_rgbir_to_camera_raw4(arr)   # [R,G,IR,B]
+        arr_cam = np.transpose(arr_cam, (2, 0, 1))     # (4,H,W)
+        arr_cam.astype(np.float32).tofile(path)
+    else:
+        arr.tofile(path)
 
 
 # ===============================
@@ -424,6 +433,7 @@ def augment_sample(
     msk2_path=None,
     msk2_out_dir=None,
     raw_out_dir=None,
+    aug_suffix="aug",
 ):
     """
     Faz a augmentação a partir de UM RAW4 + máscara (e opcionalmente máscara2).
@@ -480,17 +490,17 @@ def augment_sample(
         img_b = raw_to_preview_rgb(raw_b)
 
         # 7) Salva cópias
-        out_img = os.path.join(img_out_dir, f"{base}_aug_{i:02d}.png")  # preview em PNG
-        out_msk = os.path.join(msk_out_dir, f"{base}_aug_{i:02d}{msk_ext}")
+        out_img = os.path.join(img_out_dir, f"{base}_{aug_suffix}_{i:02d}.png")
+        out_msk = os.path.join(msk_out_dir, f"{base}_{aug_suffix}_{i:02d}{msk_ext}")
         save_rgb(out_img, img_b)
         save_rgb(out_msk, msk_g)
 
         if msk2_g is not None and msk2_out_dir:
-            out_msk2 = os.path.join(msk2_out_dir, f"{base}_aug_{i:02d}{msk2_ext}")
+            out_msk2 = os.path.join(msk2_out_dir, f"{base}_{aug_suffix}_{i:02d}{msk2_ext}")
             save_rgb(out_msk2, msk2_g)
 
         if raw_b is not None and raw_out_dir:
-            out_raw = os.path.join(raw_out_dir, f"{base}_aug_{i:02d}{raw_ext}")
+            out_raw = os.path.join(raw_out_dir, f"{base}_{aug_suffix}_{i:02d}{raw_ext}")
             save_raw_any(out_raw, raw_b)
 
         gen += 1
@@ -502,7 +512,7 @@ def augment_sample(
 # Processamento por grupo
 # ===============================
 
-def process_group(group_name, copies):
+def process_group(group_name, copies, limit=None, seed=42, aug_suffix="aug"):
     """
     Processa um grupo único usando APENAS:
       - group/<g>/raws
@@ -525,6 +535,15 @@ def process_group(group_name, copies):
     use_masks2 = USE_MASKS2 and os.path.isdir(msk2_dir)
 
     raw_map  = map_raws_by_base(raw_dir)
+    items = sorted(raw_map.items())
+
+    if limit is not None and limit > 0:
+        rng = np.random.default_rng(seed)
+        if limit < len(items):
+            idx = rng.choice(len(items), size=limit, replace=False)
+            idx = sorted(idx.tolist())
+            items = [items[i] for i in idx]
+
     msk_map  = map_by_base_priorizando_png(msk_dir, MSK_EXTS)
     msk2_map = map_by_base_priorizando_png(msk2_dir, MSK2_EXTS) if use_masks2 else {}
 
@@ -536,7 +555,7 @@ def process_group(group_name, copies):
     )
 
     count = 0
-    for base, raw_file in sorted(raw_map.items()):
+    for base, raw_file in items:
         msk_file = msk_map.get(base)
         if not msk_file:
             print(f"[WARN] [{group_name}] Máscara não encontrada para RAW {base}, pulando.")
@@ -556,6 +575,7 @@ def process_group(group_name, copies):
                 msk2_path=msk2_file,
                 msk2_out_dir=msk2_out_dir,
                 raw_out_dir=raw_out_dir,
+                aug_suffix=aug_suffix,
             )
         except Exception as e:
             print(f"[ERRO] [{group_name}] {base}: {e}")
@@ -633,12 +653,23 @@ def process_legacy(copies):
     print(f"[OK] Legacy → {count} amostras geradas.")
     return count
 
+def internal_rgbir_to_camera_raw4(arr: np.ndarray) -> np.ndarray:
+    """
+    Converte do contrato interno (H,W,4) [R,G,B,IR]
+    para o contrato bruto da câmera (H,W,4) [R,G,IR,B].
+    """
+    if arr is None:
+        return None
+    if arr.ndim != 3 or arr.shape[-1] != 4:
+        raise RuntimeError(f"Esperado array (H,W,4), veio {arr.shape}")
+    return arr[..., [0, 1, 3, 2]]
+
 
 # ===============================
 # main
 # ===============================
 
-def main(copies=5, groups_csv=None):
+def main(copies=5, groups_csv=None, limit=None, seed=42, suffix="aug"):
     total = 0
     if os.path.isdir(ORIG_GROUP_ROOT):
         grupos = list_groups(ORIG_GROUP_ROOT)
@@ -653,7 +684,7 @@ def main(copies=5, groups_csv=None):
         else:
             print(f"Grupos encontrados: {', '.join(grupos)}")
             for g in grupos:
-                total += process_group(g, copies)
+                total += process_group(g, copies, limit=limit, seed=seed, aug_suffix=suffix)
     else:
         total += process_legacy(copies)
 
@@ -664,5 +695,14 @@ if __name__ == "__main__":
     ap = argparse.ArgumentParser(description="Augmentação por grupos usando RAW4 (preview gerado do RAW).")
     ap.add_argument("--copies", type=int, default=5, help="Número de cópias augmentadas por imagem (default=5).")
     ap.add_argument("--groups", type=str, default=None, help="Lista de grupos separados por vírgula (ex: chao,erva_cana).")
+    ap.add_argument("--limit", type=int, default=None, help="Quantidade máxima de imagens originais do grupo a augmentar.")
+    ap.add_argument("--seed", type=int, default=42, help="Seed para seleção reproduzível quando usar --limit.")
+    ap.add_argument("--suffix", type=str, default="aug", help="Sufixo usado no nome dos arquivos gerados.")
     args = ap.parse_args()
-    main(copies=args.copies, groups_csv=args.groups)
+    main(
+        copies=args.copies,
+        groups_csv=args.groups,
+        limit=args.limit,
+        seed=args.seed,
+        suffix=args.suffix,
+    )

Python/OAK/datasets/_7_split_raw.py

@@ -42,8 +42,8 @@ RAW_EXT  = ".raw"
 
 # Regex para identificar famílias
 RE_ORIGINAL_PREFIX  = re.compile(r'^original_(.+)$', re.IGNORECASE)
-RE_AUGMENTED_FAMILY = re.compile(r'^augmented_(.+?)(?:_aug_\d+)?$', re.IGNORECASE)
-RE_AUG_SUFFIX       = re.compile(r'_aug_\d+$', re.IGNORECASE)
+RE_AUGMENTED_FAMILY = re.compile(r'^augmented_(.+?)(?:_aug[a-zA-Z0-9]*_\d+)?$', re.IGNORECASE)
+RE_AUG_SUFFIX       = re.compile(r'_aug[a-zA-Z0-9]*_\d+$', re.IGNORECASE)
 
 
 def garantir(p):

Python/OAK/datasets/_8_train_segformer_b3_raw.py

@@ -16,7 +16,7 @@ from torch.utils.data import DataLoader, Dataset
 from torch.amp import autocast, GradScaler
 import torch.nn.functional as F
 
-from raw_segformer_service import (RawSegDataset, normalize_raw, patch_segformer_input_channels, build_raw_segformer_model)
+from raw_segformer_service import (RawSegDataset, normalize_raw, patch_segformer_input_channels, build_raw_segformer_model, build_dual_branch_segformer_model)
 
 
 # ----------------------------
@@ -327,6 +327,7 @@ def main():
     parser.add_argument("--resize_w", type=int, default=None)
 
     parser.add_argument("--norm_stats", type=str, default=None, help="Caminho para JSON com mean/std por canal (ex: norm_stats.json).")
+    parser.add_argument("--fusion_mode", type=str, default=None)
 
     args = parser.parse_args()
     set_seed(args.seed)
@@ -348,7 +349,18 @@ def main():
     if args.main_class is not None:
         MAIN_CLASS_NAME = args.main_class.lower()
 
-    save_path = os.path.join(MODELO, "backup", config["modelo"], MODEL_NAME, f"raw{CHANNELS}")
+    FUSION_MODE = config.get("fusion_mode", "stacked")
+    if args.fusion_mode is not None:
+        FUSION_MODE = args.fusion_mode
+
+    if FUSION_MODE == "dual_branch" and CHANNELS not in (4, 5):
+        raise ValueError("dual_branch requer channels=4 ou 5")
+
+    stats_source_tag = config.get("stats_source_tag", "stacked_raw4")
+    experiment_tag = f"{FUSION_MODE}_raw{CHANNELS}"
+    save_path = os.path.join(MODELO, "backup", config["modelo"], MODEL_NAME, experiment_tag)
+
+    #save_path = os.path.join(MODELO, "backup", config["modelo"], MODEL_NAME, f"raw{CHANNELS}")
     dataset_path = os.path.join(MODELO, "dataset")
     labelmap_path = os.path.join(dataset_path, "labelmap.txt")
     os.makedirs(save_path, exist_ok=True)
@@ -365,7 +377,8 @@ def main():
 
     # Caminho padrão: dentro do dataset, nome do arquivo de stats
     # (ajusta aqui pro nome que você realmente usou: norm_stats.json, por ex.)
-    norm_stats_path = os.path.join(save_path, "norm_stats.json")
+    #norm_stats_path = os.path.join(save_path, "norm_stats.json")
+    norm_stats_path = os.path.join(MODELO, "backup", config["modelo"], MODEL_NAME, stats_source_tag, "norm_stats.json")
     if args.norm_stats is not None:
         norm_stats_path = args.norm_stats
 
@@ -411,7 +424,19 @@ def main():
             mean_rgbi = np.array(mean_rgbi, dtype=np.float32)
             std_rgbi  = np.array(std_rgbi,  dtype=np.float32)
 
-            if CHANNELS == 4 and not USE_NDVI:
+            if CHANNELS == 3 and not USE_NDVI:
+                mean3 = mean_rgbi[:3]
+                std3  = std_rgbi[:3]
+
+                mean_t = torch.tensor(mean3, dtype=torch.float32, device=device).view(1, 3, 1, 1)
+                std_t  = torch.tensor(std3,  dtype=torch.float32, device=device).view(1, 3, 1, 1)
+
+                def normalizer(x: torch.Tensor) -> torch.Tensor:
+                    return (x - mean_t) / std_t
+
+                print("[NORM] Normalização fixa por canal ativada para [R,G,B].")
+
+            elif CHANNELS == 4 and not USE_NDVI:
                 # [R,G,B,IR]
                 mean_t = torch.tensor(mean_rgbi, dtype=torch.float32, device=device).view(1, 4, 1, 1)
                 std_t  = torch.tensor(std_rgbi,  dtype=torch.float32, device=device).view(1, 4, 1, 1)
@@ -512,17 +537,28 @@ def main():
         drop_last=False,
     )
 
-    model = build_raw_segformer_model(
-        num_classes=num_classes,
-        channels=CHANNELS,
-        backbone=BACKBONE,
-        device=device,
-        ckpt_path=None,     # treino começa do backbone ADE
-        strict=False,       # pode deixar False se quiser mais flexibilidade
-    )
+    if FUSION_MODE == "stacked":
+        model = build_raw_segformer_model(
+            num_classes=num_classes,
+            channels=CHANNELS,
+            backbone=BACKBONE,
+            device=device,
+            ckpt_path=None,
+            strict=False,
+        )
+        patch_segformer_input_channels(model, in_ch=CHANNELS)
 
-    # patch para N canais de entrada (4 ou 5)
-    patch_segformer_input_channels(model, in_ch=CHANNELS)
+    elif FUSION_MODE == "dual_branch":
+        model = build_dual_branch_segformer_model(
+            num_classes=num_classes,
+            channels=CHANNELS,
+            backbone=BACKBONE,
+            device=device,
+            ckpt_path=None,
+            strict=False,
+        )
+    else:
+        raise ValueError(f"fusion_mode inválido: {FUSION_MODE}")
 
     if args.grad_ckpt:
         try:

Python/OAK/datasets/_9_test_segformer_b3_raw.py

@@ -232,6 +232,7 @@ def main():
 
     USE_NDVI  = bool(config.get("use_ndvi", False))
     CHANNELS  = int(config.get("channels", 4))
+    FUSION_MODE = config.get("fusion_mode", "stacked")
     RESOLUCAO = config["resolucao"]
     W, H      = RESOLUCAO[0], RESOLUCAO[1]
     if args.resize_h is not None:
@@ -251,7 +252,9 @@ def main():
     norm_mean = None
     norm_std = None
 
-    norm_stats_path = os.path.join(MODELO, "backup", modelo_folder, MODEL_NAME, f"raw{CHANNELS}", "norm_stats.json")
+    experiment_tag = f"{FUSION_MODE}_raw{CHANNELS}"
+
+    norm_stats_path = os.path.join(MODELO, "backup", modelo_folder, MODEL_NAME, experiment_tag, "norm_stats.json")
     if args.norm_stats is not None:
         norm_stats_path = args.norm_stats
     if os.path.isfile(norm_stats_path):
@@ -279,7 +282,10 @@ def main():
         s_IR = stats_std[idx_by_name["IR"]]
         s_B  = stats_std[idx_by_name["B"]]
 
-        if CHANNELS == 4 and not USE_NDVI:
+        if CHANNELS == 3 and not USE_NDVI:
+            norm_mean = [m_R, m_G, m_B]
+            norm_std  = [s_R, s_G, s_B]
+        elif CHANNELS == 4 and not USE_NDVI:
             norm_mean = [m_R, m_G, m_B, m_IR]
             norm_std  = [s_R, s_G, s_B, s_IR]
         elif CHANNELS == 4 and USE_NDVI:
@@ -301,7 +307,7 @@ def main():
     if args.ckpt is not None:
         ckpt_path = args.ckpt
     else:
-        save_path = os.path.join(MODELO, "backup", modelo_folder, MODEL_NAME, f"raw{CHANNELS}")
+        save_path = os.path.join(MODELO, "backup", modelo_folder, MODEL_NAME, experiment_tag)
         ckpt_path = os.path.join(save_path, "best_miou.pt")
 
     if not os.path.isfile(ckpt_path):

Python/OAK/datasets/config.json

@@ -1,7 +1,7 @@
 {
     "camera": "gal5000",
     "modelo": "segformer_b1",
-    "model_name": "pulv_ref",
+    "model_name": "pulv_new",
     "dual_head": false,
     "main_class_name": "cana", 
     "es_classes": "", 
@@ -11,7 +11,9 @@
     "roi_inicio": 0.0,
     "roi_tamanho": 1.0,
     "shaves": 3,
-    "channels": 5,
-    "use_ndvi": true,
-    "backbone": "nvidia/segformer-b1-finetuned-ade-512-512"
+    "channels": 4,
+    "use_ndvi": false,
+    "backbone": "nvidia/segformer-b1-finetuned-ade-512-512",
+    "fusion_mode": "stacked",
+    "stats_source_tag": "stacked_raw4"
 }

Python/OAK/datasets/config_oak.json

@@ -1,7 +1,7 @@
 {
     "camera": "oak-d",
     "modelo": "segformer_b0",
-    "model_name": "nav",
+    "model_name": "nav_big",
     "dual_head": false,
     "main_class_name": "navegavel", 
     "es_classes": "", 
@@ -12,6 +12,6 @@
     "roi_tamanho": 1.0,
     "shaves": 3,
     "channels": 3,
-    "use_ndvi": true,
+    "use_ndvi": false,
     "backbone": "nvidia/segformer-b0-finetuned-ade-512-512"
 }

Python/OAK/datasets/raw_segformer_service.py

@@ -55,6 +55,282 @@ def build_raw_segformer_model(
         model.to(device)
         return model
 
+def build_dual_branch_segformer_model(
+    num_classes: int,
+    channels: int,
+    backbone: str = "nvidia/segformer-b1-finetuned-ade-512-512",
+    device: torch.device | None = None,
+    ckpt_path: str | None = None,
+    strict: bool = True,
+) -> nn.Module:
+    if device is None:
+        device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+
+    if channels not in (4, 5):
+        raise ValueError(f"Dual branch espera channels=4 ou 5, veio {channels}")
+
+    spec_channels = channels - 3  # 1 (IR) ou 2 (IR+NDVI)
+
+    model = DualBranchSegformerV2(
+        num_classes=num_classes,
+        backbone=backbone,
+        spec_channels=spec_channels,
+    )
+
+    if ckpt_path is not None:
+        ckpt = torch.load(ckpt_path, map_location="cpu")
+        if "model" not in ckpt:
+            raise RuntimeError(f"Checkpoint {ckpt_path} não contém chave 'model'.")
+        model.load_state_dict(ckpt["model"], strict=strict)
+
+    model.to(device)
+    return model
+
+
+class SpectralBranch(nn.Module):
+    def __init__(self, in_ch: int, out_ch: int = 256):
+        super().__init__()
+        self.net = nn.Sequential(
+            nn.Conv2d(in_ch, 32, kernel_size=3, stride=2, padding=1, bias=False),
+            nn.BatchNorm2d(32),
+            nn.ReLU(inplace=True),
+
+            nn.Conv2d(32, 64, kernel_size=3, stride=2, padding=1, bias=False),
+            nn.BatchNorm2d(64),
+            nn.ReLU(inplace=True),
+
+            nn.Conv2d(64, 128, kernel_size=3, stride=2, padding=1, bias=False),
+            nn.BatchNorm2d(128),
+            nn.ReLU(inplace=True),
+
+            nn.Conv2d(128, out_ch, kernel_size=1, stride=1, padding=0, bias=False),
+            nn.BatchNorm2d(out_ch),
+            nn.ReLU(inplace=True),
+        )
+
+    def forward(self, x: torch.Tensor) -> torch.Tensor:
+        return self.net(x)
+
+class DualBranchSegformer(nn.Module):
+    """
+    Entrada esperada:
+      - 4 canais: [R,G,B,IR]
+      - 5 canais: [R,G,B,IR,NDVI]
+    """
+
+    def __init__(
+        self,
+        num_classes: int,
+        backbone: str = "nvidia/segformer-b1-finetuned-ade-512-512",
+        spec_channels: int = 1,
+    ):
+        super().__init__()
+
+        self.rgb_model = SegformerForSemanticSegmentation.from_pretrained(
+            backbone,
+            num_labels=num_classes,
+            ignore_mismatched_sizes=True,
+            use_safetensors=True,
+        )
+        patch_segformer_input_channels(self.rgb_model, in_ch=3)
+
+        self.spec_branch = nn.Sequential(
+            nn.Conv2d(spec_channels, 32, kernel_size=3, stride=2, padding=1, bias=False),
+            nn.BatchNorm2d(32),
+            nn.ReLU(inplace=True),
+
+            nn.Conv2d(32, 64, kernel_size=3, stride=2, padding=1, bias=False),
+            nn.BatchNorm2d(64),
+            nn.ReLU(inplace=True),
+
+            nn.Conv2d(64, 128, kernel_size=3, stride=2, padding=1, bias=False),
+            nn.BatchNorm2d(128),
+            nn.ReLU(inplace=True),
+
+            nn.Conv2d(128, num_classes, kernel_size=1, stride=1, padding=0, bias=True),
+        )
+
+        self.fuse = nn.Sequential(
+            nn.Conv2d(num_classes * 2, num_classes, kernel_size=1, bias=True),
+        )
+
+    def forward(self, pixel_values: torch.Tensor):
+        rgb = pixel_values[:, :3, :, :]
+        spec = pixel_values[:, 3:, :, :]
+
+        rgb_out = self.rgb_model(pixel_values=rgb)
+        rgb_logits = rgb_out.logits  # (B,num_classes,h,w)
+
+        spec_logits = self.spec_branch(spec)
+
+        if spec_logits.shape[-2:] != rgb_logits.shape[-2:]:
+            spec_logits = F.interpolate(
+                spec_logits,
+                size=rgb_logits.shape[-2:],
+                mode="bilinear",
+                align_corners=False,
+            )
+
+        fused = torch.cat([rgb_logits, spec_logits], dim=1)
+        logits = self.fuse(fused)
+
+        return type("DualBranchOutput", (), {"logits": logits})
+
+
+class ResidualBlock(nn.Module):
+    def __init__(self, ch: int):
+        super().__init__()
+        self.conv1 = nn.Conv2d(ch, ch, 3, padding=1, bias=False)
+        self.bn1 = nn.BatchNorm2d(ch)
+        self.act = nn.ReLU(inplace=True)
+        self.conv2 = nn.Conv2d(ch, ch, 3, padding=1, bias=False)
+        self.bn2 = nn.BatchNorm2d(ch)
+
+    def forward(self, x):
+        identity = x
+        x = self.act(self.bn1(self.conv1(x)))
+        x = self.bn2(self.conv2(x))
+        x = self.act(x + identity)
+        return x
+
+class SpectralEncoderV2(nn.Module):
+    def __init__(self, in_ch: int, out_ch: int = 256):
+        super().__init__()
+        self.stem = nn.Sequential(
+            nn.Conv2d(in_ch, 32, 3, stride=2, padding=1, bias=False),
+            nn.BatchNorm2d(32),
+            nn.ReLU(inplace=True),
+        )
+
+        self.stage1 = nn.Sequential(
+            ResidualBlock(32),
+            nn.Conv2d(32, 64, 3, stride=2, padding=1, bias=False),
+            nn.BatchNorm2d(64),
+            nn.ReLU(inplace=True),
+        )
+
+        self.stage2 = nn.Sequential(
+            ResidualBlock(64),
+            nn.Conv2d(64, 128, 3, stride=2, padding=1, bias=False),
+            nn.BatchNorm2d(128),
+            nn.ReLU(inplace=True),
+        )
+
+        self.stage3 = nn.Sequential(
+            ResidualBlock(128),
+            nn.Conv2d(128, out_ch, 1, bias=False),
+            nn.BatchNorm2d(out_ch),
+            nn.ReLU(inplace=True),
+        )
+
+    def forward(self, x):
+        x = self.stem(x)
+        x = self.stage1(x)
+        x = self.stage2(x)
+        x = self.stage3(x)
+        return x
+
+class FeatureFusionBlock(nn.Module):
+    def __init__(self, ch_rgb: int, ch_spec: int, ch_fused: int):
+        super().__init__()
+        self.rgb_proj = nn.Conv2d(ch_rgb, ch_fused, 1, bias=False)
+        self.spec_proj = nn.Conv2d(ch_spec, ch_fused, 1, bias=False)
+
+        self.fuse = nn.Sequential(
+            nn.Conv2d(ch_fused * 2, ch_fused, 3, padding=1, bias=False),
+            nn.BatchNorm2d(ch_fused),
+            nn.ReLU(inplace=True),
+            nn.Conv2d(ch_fused, ch_fused, 3, padding=1, bias=False),
+            nn.BatchNorm2d(ch_fused),
+            nn.ReLU(inplace=True),
+        )
+
+        self.gate = nn.Sequential(
+            nn.Conv2d(ch_fused, ch_fused, 1),
+            nn.Sigmoid(),
+        )
+
+    def forward(self, rgb_feat, spec_feat):
+        rgb_feat = self.rgb_proj(rgb_feat)
+        spec_feat = self.spec_proj(spec_feat)
+
+        if spec_feat.shape[-2:] != rgb_feat.shape[-2:]:
+            spec_feat = F.interpolate(
+                spec_feat,
+                size=rgb_feat.shape[-2:],
+                mode="bilinear",
+                align_corners=False,
+            )
+
+        fused = torch.cat([rgb_feat, spec_feat], dim=1)
+        fused = self.fuse(fused)
+        gate = self.gate(fused)
+        fused = fused * gate
+        return fused
+
+class DualBranchSegformerV2(nn.Module):
+    def __init__(
+        self,
+        num_classes: int,
+        backbone: str = "nvidia/segformer-b1-finetuned-ade-512-512",
+        spec_channels: int = 1,
+        fused_channels: int = 256,
+    ):
+        super().__init__()
+
+        self.rgb_model = SegformerForSemanticSegmentation.from_pretrained(
+            backbone,
+            num_labels=num_classes,
+            ignore_mismatched_sizes=True,
+            use_safetensors=True,
+        )
+        patch_segformer_input_channels(self.rgb_model, in_ch=3)
+
+        self.spec_branch = SpectralEncoderV2(
+            in_ch=spec_channels,
+            out_ch=fused_channels,
+        )
+
+        self.fusion = FeatureFusionBlock(
+            ch_rgb=self.rgb_model.config.hidden_sizes[-1],
+            ch_spec=fused_channels,
+            ch_fused=fused_channels,
+        )
+
+        self.classifier = nn.Sequential(
+            nn.Conv2d(fused_channels, fused_channels, 3, padding=1, bias=False),
+            nn.BatchNorm2d(fused_channels),
+            nn.ReLU(inplace=True),
+            nn.Conv2d(fused_channels, num_classes, 1, bias=True),
+        )
+
+    def forward(self, pixel_values: torch.Tensor):
+        rgb = pixel_values[:, :3, :, :]
+        spec = pixel_values[:, 3:, :, :]
+
+        rgb_out = self.rgb_model(
+            pixel_values=rgb,
+            output_hidden_states=True,
+        )
+
+        rgb_logits = rgb_out.logits
+        rgb_feat = rgb_out.hidden_states[-1]
+
+        spec_feat = self.spec_branch(spec)
+        fused_feat = self.fusion(rgb_feat, spec_feat)
+        logits = self.classifier(fused_feat)
+
+        if logits.shape[-2:] != rgb_logits.shape[-2:]:
+            logits = F.interpolate(
+                logits,
+                size=rgb_logits.shape[-2:],
+                mode="bilinear",
+                align_corners=False,
+            )
+
+        return type("DualBranchOutput", (), {"logits": logits})
+
+
 class RawSegformerService:
     """
     Service para trabalhar com o modelo SegFormer RAW (4 ou 5 canais).
@@ -116,6 +392,7 @@ class RawSegformerService:
         self.modelo_folder = cfg["modelo"]          # ex: "dif"
         self.res_w, self.res_h = cfg["resolucao"]   # [W,H]
         self.backbone      = cfg["backbone"]
+        self.fusion_mode = cfg.get("fusion_mode", "stacked")
 
         self._preview_lock = threading.Lock()
         self._preview_busy = False
@@ -135,12 +412,15 @@ class RawSegformerService:
         self.channels = int(cfg.get("channels", 4))  # 4 ou 5
         self.use_ndvi = bool(cfg.get("use_ndvi", False))
 
-        if self.channels not in (4, 5):
-            raise ValueError(f"[svc] 'channels' inválido no config: {self.channels} (esperado 4 ou 5)")
+        if self.channels not in (3, 4, 5):
+            raise ValueError(f"[svc] 'channels' inválido no config: {self.channels} (esperado 3, 4 ou 5)")
 
         if self.channels == 5 and not self.use_ndvi:
             raise ValueError("[svc] channels=5 sem NDVI não faz sentido no design atual. "
                              "Use channels=4 sem NDVI ou channels=5 com NDVI.")
+        
+        if self.channels == 3 and self.use_ndvi:
+            raise ValueError("[svc] channels=3 com NDVI não faz sentido. Use RGB puro sem NDVI.")
 
         # labelmap
         if labelmap_path is None:
@@ -164,8 +444,8 @@ class RawSegformerService:
             # checkpoint
             if ckpt_path is None:
                 # igual ao _9_test_segformer_b3_raw.py
-                # save_path = MODELO/backup/modelo/model_name/rawx
-                save_path = os.path.join(self.MODELO, "backup", self.modelo_folder, self.MODEL_NAME, f"raw{self.channels}")
+                # save_path = MODELO/backup/modelo/model_name/fusion_rawx
+                save_path = os.path.join(self.MODELO, "backup", self.modelo_folder, self.MODEL_NAME, f"{self.fusion_mode}_raw{self.channels}")
                 ckpt_path = os.path.join(save_path, "best_miou.pt")
 
             if not os.path.isfile(ckpt_path):
@@ -186,6 +466,7 @@ class RawSegformerService:
         self._buf_hw = (H, W)
 
         # Buffers principais
+        self._raw_buf3 = np.empty((3, H, W), dtype=np.float32)
         self._raw_buf4 = np.empty((4, H, W), dtype=np.float32)
         self._raw_buf5 = np.empty((5, H, W), dtype=np.float32)
 
@@ -216,15 +497,28 @@ class RawSegformerService:
     # Carregamento do modelo
     # -------------------------------------------------
     def _load_model(self, backbone: str) -> torch.nn.Module:
-        model = build_raw_segformer_model(
-            num_classes=self.num_classes,
-            channels=self.channels,
-            backbone=backbone,
-            device=self.device,
-            ckpt_path=self.ckpt_path,
-            strict=True,
-        )
-        print(f"[svc] modelo carregado: {self.ckpt_path}")
+        if self.fusion_mode == "dual_branch":
+            model = build_dual_branch_segformer_model(
+                num_classes=self.num_classes,
+                channels=self.channels,
+                backbone=backbone,
+                device=self.device,
+                ckpt_path=self.ckpt_path,
+                strict=True,
+            )
+        elif self.fusion_mode == "stacked":
+            model = build_raw_segformer_model(
+                num_classes=self.num_classes,
+                channels=self.channels,
+                backbone=backbone,
+                device=self.device,
+                ckpt_path=self.ckpt_path,
+                strict=True,
+            )
+        else:
+            raise ValueError(f"[svc] fusion_mode inválido: {self.fusion_mode}")
+
+        print(f"[svc] modelo carregado: {self.ckpt_path} | fusion_mode={self.fusion_mode}")
         return model
 
     # -------------------------------------------------
@@ -248,7 +542,7 @@ class RawSegformerService:
           Se você guardar a referência e chamar de novo, o conteúdo será sobrescrito.
           (No loop de tempo real isso é perfeito.)
         """
-        if self.channels not in (4, 5):
+        if self.channels not in (3, 4, 5):
             raise RuntimeError(f"channels inválido em build_raw_input: {self.channels}")
 
         # Garantir float32 sem copiar se já estiver
@@ -260,6 +554,13 @@ class RawSegformerService:
         H, W = r32.shape
         self._ensure_buffers(H, W)
 
+        if self.channels == 3:
+            raw = self._raw_buf3
+            raw[0, :, :] = r32
+            raw[1, :, :] = g32
+            raw[2, :, :] = b32
+            return raw
+
         # Seleciona buffer principal
         raw = self._raw_buf5 if self.channels == 5 else self._raw_buf4
 
@@ -550,12 +851,14 @@ class RawSegDataset(Dataset):
         self.ndvi_eps = ndvi_eps
         self.channels = int(channels)
 
-        if self.channels not in (4, 5):
-            raise ValueError(f"[dataset] 'channels' inválido: {self.channels} (esperado 4 ou 5)")
+        if self.channels not in (3, 4, 5):
+            raise ValueError(f"[dataset] 'channels' inválido: {self.channels} (esperado 3, 4 ou 5)")
 
         if self.channels == 5 and not self.use_ndvi:
-            raise ValueError("[dataset] channels=5 sem NDVI não é suportado. "
-                             "Use channels=4 sem NDVI ou channels=5 com NDVI.")
+            raise ValueError("[svc] channels=5 sem NDVI não faz sentido no design atual.")
+
+        if self.channels == 3 and self.use_ndvi:
+            raise ValueError("[svc] channels=3 com NDVI não faz sentido. Use RGB puro sem NDVI.")
 
         self.items: List[Tuple[str, str]] = []  # (raw_path, mask_path)
 
@@ -742,16 +1045,21 @@ class RawSegDataset(Dataset):
         # Montagem de canais finais
         if self.use_ndvi:
             if self.channels == 4:
-                # substitui IR por NDVI01: [R,G,B,NDVI01]
+                # [R,G,B,NDVI01]
                 raw = self._add_ndvi_replace(raw)
             elif self.channels == 5:
-                # adiciona NDVI: [R,G,B,IR,NDVI01]
+                # [R,G,B,IR,NDVI01]
                 raw = self._add_ndvi_append(raw)
             else:
-                raise RuntimeError(f"[dataset] channels inválido em __getitem__: {self.channels}")
+                raise RuntimeError(f"[dataset] channels inválido com NDVI: {self.channels}")
         else:
-            # modo clássico: [R,G,IR,B]
-            if self.channels != 4:
+            if self.channels == 3:
+                # [R,G,B]
+                raw = raw[..., :3]
+            elif self.channels == 4:
+                # [R,G,B,IR]
+                pass
+            else:
                 raise RuntimeError("[dataset] channels=5 sem NDVI não suportado em __getitem__.")
 
         mask = self._imread_mask_png(mask_path)       # (H,W) uint8
@@ -841,22 +1149,40 @@ def normalize_raw(imgs: torch.Tensor, eps: float = 1e-6) -> torch.Tensor:
     return (imgs - mean) / std
 
 
-def make_bgr_preview_from_raw(raw_np: np.ndarray, rgirb: bool, preview_fast: bool, preview_scale: int = 2) -> np.ndarray:
+def make_bgr_preview_from_raw(
+    raw_np: np.ndarray,
+    rgirb: bool,
+    preview_fast: bool,
+    preview_scale: int = 2,
+    apply_ir_comp: bool = True,
+    ir_k_r: float = 0.40,
+    ir_k_g: float = 0.10,
+    ir_k_b: float = 0.50,
+) -> np.ndarray:
     """
-    raw_np: (C,H,W) float32 em 0..1, C=4 ou 5.
+    Gera preview BGR (OpenCV) a partir do tensor raw_np (C,H,W) float32 em 0..1.
 
-    Layout esperado:
-      - channels=4, use_ndvi=False -> [R,G,B,IR]
-      - channels=4, use_ndvi=True  -> [R,G,B,NDVI]
-      - channels=5, use_ndvi=True  -> [R,G,B,IR,NDVI]
+    Casos esperados:
+      - rgirb=False:
+          raw_np = [R, G, B]              ou [R, G, B, NDVI]
+      - rgirb=True:
+          raw_np = [R, G, IR, B]          ou [R, G, IR, B, NDVI]
 
-    Usamos sempre R,G,B para o preview.
+    Regras:
+      - Preview usa sempre R,G,B
+      - Compensação de IR só é aplicada quando rgirb=True
+      - preview_fast prioriza velocidade
+      - modo full prioriza legibilidade para anotação/mapeamento
     """
     assert raw_np.ndim == 3, "raw_np deve ser (C,H,W)"
     C = raw_np.shape[0]
-    if C not in (4, 5):
-        raise RuntimeError(f"Esperado C=4 ou 5, veio {C} em make_rgb_preview_from_raw")
+    if C not in (3, 4, 5):
+        raise RuntimeError(f"Esperado C=3, 4 ou 5, veio {C} em make_bgr_preview_from_raw")
 
+    # Garante float32 sem cópia desnecessária
+    raw_np = raw_np.astype(np.float32, copy=False)
+
+    # Seleção dos canais visíveis
     r = raw_np[0]
     g = raw_np[1]
     b = raw_np[3] if rgirb else raw_np[2]
@@ -865,52 +1191,65 @@ def make_bgr_preview_from_raw(raw_np: np.ndarray, rgirb: bool, preview_fast: boo
     # Modo PREVIEW RÁPIDO
     # -------------------------
     if preview_fast:
-        # Downscale simples (barato)
+        # Downscale primeiro para baratear tudo depois
         if preview_scale > 1:
             r = r[::preview_scale, ::preview_scale]
             g = g[::preview_scale, ::preview_scale]
             b = b[::preview_scale, ::preview_scale]
 
+        # Compensação leve de IR apenas se houver layout RGIRB
+        if rgirb and apply_ir_comp and C >= 4:
+            ir = raw_np[2]
+            if preview_scale > 1:
+                ir = ir[::preview_scale, ::preview_scale]
+
+            r = np.clip(r - ir_k_r * ir, 0.0, 1.0)
+            g = np.clip(g - ir_k_g * ir, 0.0, 1.0)
+            b = np.clip(b - ir_k_b * ir, 0.0, 1.0)
+
         bgr = np.stack([b, g, r], axis=0)
 
-        # Gamma simples só pra não ficar "lavado"
-        bgr = np.power(bgr, 1/1.8)
+        # Gamma simples para não ficar "lavado"
+        bgr = np.power(np.clip(bgr, 0.0, 1.0), 1 / 1.8)
 
-        # Converte direto pra uint8
         bgr8 = (bgr * 255.0).clip(0, 255).astype(np.uint8)
-        bgr_hwc = np.transpose(bgr8, (1, 2, 0))   # RGB
-        bgr = bgr_hwc.copy()
+        return np.transpose(bgr8, (1, 2, 0)).copy()
 
-        return bgr
+    # -------------------------
+    # Modo FULL
+    # -------------------------
 
+    # Compensação de IR apenas se houver layout RGIRB
+    if rgirb and apply_ir_comp and C >= 4:
+        ir = raw_np[2]
+        r = np.clip(r - ir_k_r * ir, 0.0, 1.0)
+        g = np.clip(g - ir_k_g * ir, 0.0, 1.0)
+        b = np.clip(b - ir_k_b * ir, 0.0, 1.0)
 
-    bgr = np.stack([b, g, r], axis=0).astype(np.float32)  # (3,H,W)
+    def stretch_channel(x: np.ndarray, p_low: float = 1.0, p_high: float = 99.0) -> np.ndarray:
+        """
+        Stretch robusto por percentil, melhor que AWB simples para cena agrícola.
+        """
+        lo = np.percentile(x, p_low)
+        hi = np.percentile(x, p_high)
 
-    # Auto white balance simples (referenciado no G)
-    means = bgr.mean(axis=(1, 2))  # (3,)
-    ref   = means[1]  # canal G
-    gains = ref / (means + 1e-6)
-    gains = np.clip(gains, 0.5, 2.0)
-    bgr_wb = bgr * gains[:, None, None]
+        if not np.isfinite(lo) or not np.isfinite(hi) or hi <= lo:
+            return np.clip(x, 0.0, 1.0)
 
-    # Força do WB
-    alpha = 1.0  # teste 0.4..0.8
-    if alpha >= 0.999:
-        bgr = bgr_wb
-    else:
-        bgr_orig = bgr.copy()
-        bgr = (1 - alpha) * bgr_orig + alpha * bgr_wb
-    bgr = np.clip(bgr, 0.0, 1.0)
+        x = (x - lo) / (hi - lo)
+        return np.clip(x, 0.0, 1.0)
 
-    # Gamma mais suave
-    bgr = np.power(bgr, 1/1.9, out=bgr)
+    r = stretch_channel(r)
+    g = stretch_channel(g)
+    b = stretch_channel(b)
 
-    # Para OpenCV
-    bgr8    = (bgr * 255.0).clip(0, 255).astype(np.uint8)
-    bgr_hwc = np.transpose(bgr8, (1, 2, 0))   # (H,W,3) RGB
-    bgr     = bgr_hwc.copy()
+    bgr = np.stack([b, g, r], axis=0).astype(np.float32)
 
-    return bgr
+    # Gamma suave
+    bgr = np.power(np.clip(bgr, 0.0, 1.0), 1 / 2.0)
+
+    bgr8 = (bgr * 255.0).clip(0, 255).astype(np.uint8)
+    return np.transpose(bgr8, (1, 2, 0)).copy()
 
 # ----------------------------
 # Patch: SegFormer para N canais