Ensure everything shaped 40x40

app.py

@@ -101,7 +101,7 @@ def interpret_rgb_class(decoded_img):
     ambiguous_rgb = np.array([150, 5, 61])
     matches = np.all(np.abs(decoded_img - ambiguous_rgb) <= TOL, axis=-1)
     match_ratio = np.count_nonzero(matches) / matches.size
-    return "garbage" if match_ratio > 0.15 else "sand"
+    return "garbage" if match_ratio > 0.3 else "sand"
 
 # Masking zones (Garbage and Water zone to be travelable)
 def build_masks(seg):
@@ -149,7 +149,6 @@ def highlight_chunk_masks_on_frame(frame, labels, objs, color_uncollected=(0, 0,
         contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
         color = color_collected if obj["col"] else color_uncollected
         cv2.drawContours(overlay, contours, -1, color, thickness=cv2.FILLED)
-
     # Blend overlay with original frame using alpha
     return cv2.addWeighted(overlay, alpha, frame, 1 - alpha, 0)
 
@@ -465,13 +464,25 @@ def _pipeline(uid,img_path):
             color = (0, 0, 128) if not o["col"] else (0, 128, 0)
             x, y = o["pos"]
             cv2.circle(frame, (x, y), 6, color, -1)
-        # robot
+        # Robot displacement
         robot.step(path)
-        rx,ry=robot.pos; sp=robot.png
-        a = sp[:, :, 3] / 255.0  # alpha channel
-        a = np.stack([a]*3, axis=-1)  # shape (40, 40, 3)
-        bgroi = frame[ry:ry+40, rx:rx+40]
-        frame[ry:ry+40, rx:rx+40] = (a * sp[:, :, :3] + (1 - a) * bgroi).astype(np.uint8)
+        rx, ry = robot.pos
+        sp = robot.png
+        # Calculate actual available space (clamp to 640x640)
+        h, w = frame.shape[:2]
+        end_x = min(rx + 40, w)
+        end_y = min(ry + 40, h)
+        crop_w = end_x - rx
+        crop_h = end_y - ry
+        # Crop sprite and alpha accordingly
+        sprite_rgb = sp[:crop_h, :crop_w, :3]
+        alpha = sp[:crop_h, :crop_w, 3] / 255.0
+        alpha = np.stack([alpha] * 3, axis=-1)
+        # Crop background region
+        bgroi = frame[ry:end_y, rx:end_x]
+        blended = (alpha * sprite_rgb + (1 - alpha) * bgroi).astype(np.uint8)
+        # Update frame with blended result
+        frame[ry:end_y, rx:end_x] = blended
         # collection check
         for o in objs:
             if not o["col"] and np.hypot(o["pos"][0]-rx,o["pos"][1]-ry)<=20: