distance test

app/src/main/java/com/example/livingai/data/ml/AIModelImpl.kt

@@ -2,6 +2,7 @@ package com.example.livingai.data.ml
 
 import android.graphics.Bitmap
 import android.graphics.Color
+import android.graphics.Rect
 import com.example.livingai.domain.ml.AIModel
 import com.google.mlkit.vision.common.InputImage
 import com.google.mlkit.vision.segmentation.subject.SubjectSegmentation
@@ -9,10 +10,8 @@ import com.google.mlkit.vision.segmentation.subject.SubjectSegmenterOptions
 import kotlinx.coroutines.suspendCancellableCoroutine
 import kotlin.coroutines.resume
 import kotlin.coroutines.resumeWithException
-import kotlin.math.max
 
-// Define a constant color for the segmentation mask
-private const val MASK_COLOR = 0x5500FF00 // Semi-transparent green
+private const val MASK_COLOR = 0x5500FF00 // semi-transparent green overlay
 
 class AIModelImpl : AIModel {
 
@@ -23,23 +22,21 @@ class AIModelImpl : AIModel {
         SubjectSegmentation.getClient(options)
     }
 
-    override fun deriveInference(bitmap: Bitmap): String {
-        return "Inference Result"
-    }
+    override fun deriveInference(bitmap: Bitmap): String = "Inference Result"
 
-    override suspend fun segmentImage(bitmap: Bitmap): Pair<Bitmap, BooleanArray>? {
+    override suspend fun segmentImage(bitmap: Bitmap): Triple<Bitmap, BooleanArray, Rect>? {
         return suspendCancellableCoroutine { cont ->
             val image = InputImage.fromBitmap(bitmap, 0)
+
             segmenter.process(image)
                 .addOnSuccessListener { result ->
-                    val foregroundBitmap = result.foregroundBitmap
-                    if (foregroundBitmap != null) {
-                        val colorizedMask = createColorizedMask(foregroundBitmap)
-                        val booleanMask = createBooleanMask(foregroundBitmap)
-                        cont.resume(Pair(colorizedMask, booleanMask))
-                    } else {
-                        cont.resume(null)
-                    }
+                    val fg = result.foregroundBitmap ?: return@addOnSuccessListener cont.resume(null)
+
+                    val booleanMask = createBooleanMask(fg)
+                    val colorMask = createColorizedMask(fg)
+                    val bbox = computeBoundingBox(booleanMask, fg.width, fg.height)
+
+                    cont.resume(Triple(colorMask, booleanMask, bbox))
                 }
                 .addOnFailureListener { e ->
                     cont.resumeWithException(e)
@@ -48,10 +45,11 @@ class AIModelImpl : AIModel {
     }
 
     private fun createColorizedMask(maskBitmap: Bitmap): Bitmap {
-        val width = maskBitmap.width
-        val height = maskBitmap.height
-        val pixels = IntArray(width * height)
-        maskBitmap.getPixels(pixels, 0, width, 0, 0, width, height)
+        val w = maskBitmap.width
+        val h = maskBitmap.height
+        val pixels = IntArray(w * h)
+
+        maskBitmap.getPixels(pixels, 0, w, 0, 0, w, h)
 
         for (i in pixels.indices) {
             if (Color.alpha(pixels[i]) > 0) {
@@ -59,7 +57,7 @@ class AIModelImpl : AIModel {
             }
         }
 
-        return Bitmap.createBitmap(pixels, width, height, Bitmap.Config.ARGB_8888)
+        return Bitmap.createBitmap(pixels, w, h, Bitmap.Config.ARGB_8888)
     }
 
     private fun createBooleanMask(bitmap: Bitmap): BooleanArray {
@@ -67,11 +65,38 @@ class AIModelImpl : AIModel {
         val h = bitmap.height
         val mask = BooleanArray(w * h)
         val pixels = IntArray(w * h)
+
         bitmap.getPixels(pixels, 0, w, 0, 0, w, h)
+
         for (i in pixels.indices) {
-            val alpha = Color.alpha(pixels[i])
-            mask[i] = alpha > 0 // Assuming foreground bitmap has transparent background
+            mask[i] = Color.alpha(pixels[i]) > 0
         }
+
         return mask
     }
+
+    private fun computeBoundingBox(mask: BooleanArray, w: Int, h: Int): Rect {
+        var minX = Int.MAX_VALUE
+        var minY = Int.MAX_VALUE
+        var maxX = Int.MIN_VALUE
+        var maxY = Int.MIN_VALUE
+
+        for (y in 0 until h) {
+            for (x in 0 until w) {
+                val idx = y * w + x
+                if (mask[idx]) {
+                    if (x < minX) minX = x
+                    if (y < minY) minY = y
+                    if (x > maxX) maxX = x
+                    if (y > maxY) maxY = y
+                }
+            }
+        }
+
+        return if (minX == Int.MAX_VALUE) {
+            Rect(0, 0, 0, 0)
+        } else {
+            Rect(minX, minY, maxX, maxY)
+        }
+    }
 }

app/src/main/java/com/example/livingai/data/ml/DistanceEstimatorImpl.kt

@@ -0,0 +1,49 @@
+package com.example.livingai.data.ml
+
+import com.example.livingai.domain.ml.ArcoreDepthEstimator
+import com.example.livingai.domain.ml.CameraInfoData
+import com.example.livingai.domain.ml.CameraInfoProvider
+import com.example.livingai.domain.ml.DistanceEstimator
+import com.example.livingai.domain.ml.DistanceRecommendation
+import com.example.livingai.domain.ml.DistanceState
+import com.example.livingai.domain.ml.FrameData
+import com.example.livingai.domain.ml.KnownDimensionEstimator
+import com.example.livingai.utils.Constants
+
+class DistanceEstimatorImpl(
+    private val mainEstimator: DistanceEstimator = ArcoreDepthEstimator(),
+    private val fallbackEstimator: DistanceEstimator = KnownDimensionEstimator()
+) {
+
+    fun processFrame(frame: FrameData): DistanceState {
+        // Fallback or retrieve camera info
+        val camInfo = CameraInfoProvider.tryGet()
+            ?: createFallbackCameraInfo(frame)
+
+        val main = mainEstimator.analyze(frame, camInfo)
+        return main.distanceMeters?.let { main }
+            ?: fallbackEstimator.analyze(frame, camInfo)
+    }
+
+    private fun createFallbackCameraInfo(frame: FrameData): CameraInfoData {
+        // Estimate focal length based on FOV if available, or a reasonable default
+        // For a typical phone:
+        // H-FOV ~ 60-70 degrees
+        // fx = (W/2) / tan(FOV/2)
+        val w = frame.imageBitmap?.width ?: 1080
+        val h = frame.imageBitmap?.height ?: 1920
+
+        // Assume approx 60 degrees horizontal FOV as a fallback
+        val fovDegrees = 60.0
+        val fovRadians = Math.toRadians(fovDegrees)
+        val focalLengthPx = (w / 2.0) / Math.tan(fovRadians / 2.0)
+
+        return CameraInfoData(
+            focalLengthPixels = focalLengthPx.toFloat(),
+            sensorWidthPx = w,
+            sensorHeightPx = h,
+            principalPointX = w / 2f,
+            principalPointY = h / 2f
+        )
+    }
+}

app/src/main/java/com/example/livingai/data/repository/media/CameraRepositoryImpl.kt

@@ -4,45 +4,67 @@ import android.content.ContentValues
 import android.content.Context
 import android.graphics.Bitmap
 import android.graphics.Matrix
-import android.net.Uri
 import android.provider.MediaStore
 import androidx.camera.core.ImageProxy
+import com.example.livingai.data.ml.DistanceEstimatorImpl
 import com.example.livingai.domain.ml.AIModel
+import com.example.livingai.domain.ml.DistanceState
+import com.example.livingai.domain.ml.FrameMetadataProvider
+import com.example.livingai.domain.ml.FrameMetadataProvider.toFrameData
 import com.example.livingai.domain.repository.CameraRepository
+import com.example.livingai.utils.TiltSensorManager
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.withContext
-import java.io.File
-import java.io.FileOutputStream
 
 class CameraRepositoryImpl(
     private val aiModel: AIModel,
+    private val tiltSensorManager: TiltSensorManager,
     private val context: Context
 ) : CameraRepository {
 
-    override suspend fun captureImage(imageProxy: ImageProxy): Bitmap = withContext(Dispatchers.IO) {
-        val rotationDegrees = imageProxy.imageInfo.rotationDegrees
+    private val distanceEstimator = DistanceEstimatorImpl()
+
+    init {
+        // inject dependencies into metadata provider
+        FrameMetadataProvider.aiModel = aiModel
+        FrameMetadataProvider.tiltSensorManager = tiltSensorManager
+    }
+
+    override suspend fun captureImage(imageProxy: ImageProxy): Bitmap =
+        withContext(Dispatchers.IO) {
+            val rotation = imageProxy.imageInfo.rotationDegrees
             val bitmap = imageProxy.toBitmap()
             imageProxy.close()
 
-        // Rotate bitmap if needed
-        if (rotationDegrees != 0) {
-            val matrix = Matrix().apply { postRotate(rotationDegrees.toFloat()) }
-            Bitmap.createBitmap(bitmap, 0, 0, bitmap.width, bitmap.height, matrix, true)
-        } else {
-            bitmap
-        }
+            if (rotation != 0) {
+                val m = Matrix().apply { postRotate(rotation.toFloat()) }
+                Bitmap.createBitmap(bitmap, 0, 0, bitmap.width, bitmap.height, m, true)
+            } else bitmap
         }
 
-    override suspend fun processFrame(bitmap: Bitmap): String = withContext(Dispatchers.Default) {
-        aiModel.deriveInference(bitmap)
+    override suspend fun processFrame(bitmap: Bitmap): DistanceState =
+        withContext(Dispatchers.Default) {
+
+            // 1. Collect metadata
+            val meta = FrameMetadataProvider.collectMetadata(bitmap)
+
+            // 2. Convert to FrameData
+            val frameData = meta.toFrameData(bitmap)
+
+            // 3. Run distance estimator
+            distanceEstimator.processFrame(frameData)
         }
 
-    override suspend fun saveImage(bitmap: Bitmap, animalId: String, orientation: String?): String = withContext(Dispatchers.IO) {
-        val orientationSuffix = orientation?.let { "_$it" } ?: ""
-        val filename = "${animalId}${orientationSuffix}.jpg"
+    override suspend fun saveImage(
+        bitmap: Bitmap,
+        animalId: String,
+        orientation: String?
+    ): String = withContext(Dispatchers.IO) {
+        val suffix = orientation?.let { "_$it" } ?: ""
+        val fileName = "$animalId$suffix.jpg"
 
-        val contentValues = ContentValues().apply {
-            put(MediaStore.Images.Media.DISPLAY_NAME, filename)
+        val values = ContentValues().apply {
+            put(MediaStore.Images.Media.DISPLAY_NAME, fileName)
             put(MediaStore.Images.Media.MIME_TYPE, "image/jpeg")
             if (android.os.Build.VERSION.SDK_INT >= android.os.Build.VERSION_CODES.Q) {
                 put(MediaStore.Images.Media.RELATIVE_PATH, "Pictures/LivingAI/Media/$animalId")
@@ -51,8 +73,8 @@ class CameraRepositoryImpl(
         }
 
         val resolver = context.contentResolver
-        val uri = resolver.insert(MediaStore.Images.Media.EXTERNAL_CONTENT_URI, contentValues)
-            ?: throw RuntimeException("Failed to create image record")
+        val uri = resolver.insert(MediaStore.Images.Media.EXTERNAL_CONTENT_URI, values)
+            ?: throw RuntimeException("Image insert failed")
 
         try {
             resolver.openOutputStream(uri)?.use { out ->
@@ -60,9 +82,9 @@ class CameraRepositoryImpl(
             }
 
             if (android.os.Build.VERSION.SDK_INT >= android.os.Build.VERSION_CODES.Q) {
-                contentValues.clear()
-                contentValues.put(MediaStore.Images.Media.IS_PENDING, 0)
-                resolver.update(uri, contentValues, null, null)
+                values.clear()
+                values.put(MediaStore.Images.Media.IS_PENDING, 0)
+                resolver.update(uri, values, null, null)
             }
         } catch (e: Exception) {
             resolver.delete(uri, null, null)

app/src/main/java/com/example/livingai/di/AppModule.kt

@@ -128,7 +128,7 @@ val appModule = module {
     single<AnimalProfileRepository> { AnimalProfileRepositoryImpl(get()) }
     single<AnimalDetailsRepository> { AnimalDetailsRepositoryImpl(get()) }
     single<AnimalRatingRepository> { AnimalRatingRepositoryImpl(get()) }
-    single<CameraRepository> { CameraRepositoryImpl(get(), androidContext()) }
+    single<CameraRepository> { CameraRepositoryImpl(get(), get(), androidContext()) }
     single<VideoRepository> { VideoRepositoryImpl(get()) }
 
     // Use Cases

app/src/main/java/com/example/livingai/domain/ml/AIModel.kt

@@ -1,8 +1,9 @@
 package com.example.livingai.domain.ml
 
 import android.graphics.Bitmap
+import android.graphics.Rect
 
 interface AIModel {
     fun deriveInference(bitmap: Bitmap): String
-    suspend fun segmentImage(bitmap: Bitmap): Pair<Bitmap, BooleanArray>?
+    suspend fun segmentImage(bitmap: Bitmap): Triple<Bitmap, BooleanArray, Rect>?
 }

app/src/main/java/com/example/livingai/domain/ml/ARCoreDepthEstimator.kt

@@ -0,0 +1,152 @@
+package com.example.livingai.domain.ml
+
+import android.graphics.Rect
+import com.example.livingai.utils.Constants
+import kotlin.math.abs
+import kotlin.math.max
+import kotlin.math.min
+
+class ArcoreDepthEstimator(
+    private val params: ArcoreDepthParams = ArcoreDepthParams()
+) : DistanceEstimator {
+
+    data class ArcoreDepthParams(
+        val targetDistanceMeters: Float = Constants.TARGET_DISTANCE_METERS,
+        val strictToleranceMeters: Float = Constants.DISTANCE_TOLERANCE_METERS_STRICT,
+        val relaxedToleranceMeters: Float = Constants.DISTANCE_TOLERANCE_METERS_RELAXED,
+        val depthConfidenceMin: Float = Constants.DEPTH_CONFIDENCE_MIN,
+        val minDepthSamples: Int = Constants.MIN_DEPTH_SAMPLES
+    )
+
+    override fun analyze(frame: FrameData, cameraInfo: CameraInfoData): DistanceState {
+
+        val isTilted = abs(frame.imuPitchDegrees) > Constants.MAX_ACCEPTABLE_PITCH_DEGREES ||
+                abs(frame.imuRollDegrees) > Constants.MAX_ACCEPTABLE_ROLL_DEGREES
+
+        val isRotated = (frame.cameraRotationDegrees % 360) != 0
+        val isOrientationCorrect = !isTilted && !isRotated
+
+        val centered = checkCentered(frame, cameraInfo)
+
+        val depthEstimate = sampleDepthMedian(frame)
+        val fallbackEstimate = computeKnownDimensionEstimate(frame, cameraInfo)
+
+        val fusedDistance = when {
+            depthEstimate != null ->
+                Constants.WEIGHT_ARCORE * depthEstimate +
+                        Constants.WEIGHT_KNOWN_DIM * (fallbackEstimate ?: depthEstimate)
+
+            fallbackEstimate != null -> fallbackEstimate
+            else -> null
+        }
+
+        val (recommendation, ready, conf) =
+            evaluateDistanceAndReadiness(fusedDistance, centered, isOrientationCorrect)
+
+        return DistanceState(
+            distanceMeters = fusedDistance,
+            recommendation = recommendation,
+            isCameraTilted = isTilted,
+            isCameraRotated = isRotated,
+            isOrientationCorrect = isOrientationCorrect,
+            isObjectCentered = centered,
+            readyToCapture = ready,
+            confidenceScore = conf
+        )
+    }
+
+    private fun sampleDepthMedian(frame: FrameData): Float? {
+        val depth = frame.depthMapMeters ?: return null
+        val w = frame.depthWidth
+        val h = frame.depthHeight
+        if (w <= 0 || h <= 0) return null
+
+        val box = frame.segmentationBox ?: return null
+
+        val left = max(0, box.left)
+        val top = max(0, box.top)
+        val right = min(w - 1, box.right)
+        val bottom = min(h - 1, box.bottom)
+
+        val conf = frame.depthConfidence
+        val samples = ArrayList<Float>()
+
+        for (y in top..bottom) {
+            for (x in left..right) {
+                val idx = y * w + x
+                val d = depth[idx]
+                if (d <= 0f || d.isNaN()) continue
+
+                if (conf != null && conf[idx] < params.depthConfidenceMin)
+                    continue
+
+                samples.add(d)
+            }
+        }
+
+        if (samples.size < params.minDepthSamples) return null
+        samples.sort()
+        return samples[samples.size / 2]
+    }
+
+    private fun computeKnownDimensionEstimate(
+        frame: FrameData,
+        cameraInfo: CameraInfoData
+    ): Float? {
+        val box = frame.segmentationBox ?: return null
+        val hPixels = box.height().toFloat()
+        if (hPixels <= 1f) return null
+
+        val f = cameraInfo.focalLengthPixels
+        val Hreal = Constants.DEFAULT_OBJECT_REAL_HEIGHT_METERS
+
+        return (f * Hreal) / hPixels
+    }
+
+    private fun evaluateDistanceAndReadiness(
+        distMeters: Float?,
+        centered: Boolean,
+        orientationOk: Boolean
+    ): Triple<DistanceRecommendation, Boolean, Float> {
+
+        if (distMeters == null)
+            return Triple(DistanceRecommendation.DISTANCE_UNKNOWN, false, 0f)
+
+        val diff = distMeters - params.targetDistanceMeters
+        val absDiff = abs(diff)
+
+        val withinStrict = absDiff <= params.strictToleranceMeters
+        val withinRelaxed = absDiff <= params.relaxedToleranceMeters
+
+        val recommendation = when {
+            withinStrict -> DistanceRecommendation.AT_OPTIMAL_DISTANCE
+            diff > 0f -> DistanceRecommendation.MOVE_CLOSER
+            else -> DistanceRecommendation.MOVE_AWAY
+        }
+
+        val ready = withinRelaxed && centered && orientationOk
+
+        val closenessScore = 1f - (absDiff / (params.relaxedToleranceMeters * 4f))
+        val confidence = closenessScore * 0.8f +
+                (if (centered && orientationOk) 0.2f else 0f)
+
+        return Triple(recommendation, ready, confidence)
+    }
+
+    private fun checkCentered(frame: FrameData, cameraInfo: CameraInfoData): Boolean {
+        val box = frame.segmentationBox ?: return false
+        val imgW = cameraInfo.sensorWidthPx
+        val imgH = cameraInfo.sensorHeightPx
+
+        val cxObj = (box.left + box.right) / 2f
+        val cyObj = (box.top + box.bottom) / 2f
+        val cx = imgW / 2f
+        val cy = imgH / 2f
+
+        val dx = abs(cxObj - cx) / imgW
+        val dy = abs(cyObj - cy) / imgH
+
+        return dx <= Constants.CENTER_TOLERANCE_X_FRACTION &&
+                dy <= Constants.CENTER_TOLERANCE_Y_FRACTION
+    }
+}

app/src/main/java/com/example/livingai/domain/ml/CameraInfoProvider.kt

@@ -0,0 +1,21 @@
+package com.example.livingai.domain.ml
+
+/**
+ * Singleton provider of camera intrinsic data.
+ * Must be initialized once per session.
+ */
+object CameraInfoProvider {
+    @Volatile
+    private var cameraInfoData: CameraInfoData? = null
+
+    fun init(info: CameraInfoData) {
+        cameraInfoData = info
+    }
+
+    fun get(): CameraInfoData {
+        return cameraInfoData
+            ?: throw IllegalStateException("CameraInfoProvider not initialized")
+    }
+
+    fun tryGet(): CameraInfoData? = cameraInfoData
+}

app/src/main/java/com/example/livingai/domain/ml/DistanceEstimator.kt

@@ -0,0 +1,74 @@
+package com.example.livingai.domain.ml
+
+import android.graphics.Bitmap
+import android.graphics.Rect
+import kotlin.math.abs
+
+/**
+ * Interface for all distance estimators.
+ */
+interface DistanceEstimator {
+    fun analyze(
+        frame: FrameData,
+        cameraInfo: CameraInfoData
+    ): DistanceState
+}
+
+/**
+ * Frame-specific data for one inference cycle.
+ */
+data class FrameData(
+    val imageBitmap: Bitmap?,
+    val segmentationBox: Rect?,
+    val segmentationMaskBitmap: Bitmap?,
+
+    // Optional ARCore depth inputs
+    val depthMapMeters: FloatArray?,     // row-major R* C
+    val depthWidth: Int = 0,
+    val depthHeight: Int = 0,
+    val depthConfidence: FloatArray? = null,
+
+    // IMU orientation
+    val imuPitchDegrees: Float = 0f,
+    val imuRollDegrees: Float = 0f,
+    val imuYawDegrees: Float = 0f,
+
+    val cameraRotationDegrees: Int = 0,
+    val timestampMs: Long = System.currentTimeMillis()
+)
+
+/**
+ * Singleton-provided camera intrinsics for metric calculations.
+ */
+data class CameraInfoData(
+    val focalLengthPixels: Float,        // fx in pixels
+    val sensorWidthPx: Int,
+    val sensorHeightPx: Int,
+    val principalPointX: Float,
+    val principalPointY: Float,
+    val distortionCoeffs: FloatArray? = null,
+    val cameraModel: String? = null
+)
+
+/**
+ * Output state describing computed distance and capture readiness.
+ */
+data class DistanceState(
+    val distanceMeters: Float?,
+    val recommendation: DistanceRecommendation,
+
+    val isCameraTilted: Boolean,
+    val isCameraRotated: Boolean,
+    val isOrientationCorrect: Boolean,
+    val isObjectCentered: Boolean,
+
+    val readyToCapture: Boolean,
+    val confidenceScore: Float = 0f
+)
+
+enum class DistanceRecommendation {
+    MOVE_CLOSER,
+    MOVE_AWAY,
+    AT_OPTIMAL_DISTANCE,
+    DISTANCE_UNKNOWN
+}

app/src/main/java/com/example/livingai/domain/ml/FeedbackAnalyzer.kt

@@ -29,9 +29,10 @@ sealed class FeedbackState(val message: String) {
     object Searching : FeedbackState("Searching for subject...")
     object TooFar : FeedbackState("Move closer")
     object TooClose : FeedbackState("Move back")
-    object NotCentered : FeedbackState("Center the subject")
     object TooLow : FeedbackState("Raise phone")
     object TooHigh : FeedbackState("Lower phone")
+    object PhoneTooLow : FeedbackState("Raise phone to 60 to 70 cm from ground")
+    object PhoneTooHigh : FeedbackState("Lower phone to 60 to 70 cm from ground")
     object Optimal : FeedbackState("Hold still")
 }
 
@@ -76,14 +77,8 @@ class FeedbackAnalyzerImpl(
             thresholds
         )
 
-        val cameraHeight = estimateCameraHeight(pc, tiltDegrees, focalLengthPx)
-
-        Log.d("FeedbackAnalyzer", "Camera Height: $cameraHeight, frame height: ${pc.frameHeight}, " +
-                "frame top: ${pc.frameTop}, frame bottom: ${pc.frameBottom}," +
-                " detection top: ${pc.detectionTop}, detection bottom: ${pc.detectionBottom}, " +
-                "isTopInside: ${pc.isTopInside}, isBottomInside: ${pc.isBottomInside}," +
-                " detection height: ${pc.detectionHeight}, tolerance: ${pc.tolerance}")
-
+        val cameraHeight = estimateCameraHeight(pc.detectionHeight, tiltDegrees, focalLengthPx)
+        Log.d("FeedbackAnalyzerImpl", "Camera Height: $cameraHeight")
         return when {
             // ORDER MATTERS — evaluate alignment first
             isTooHigh(pc) -> FeedbackState.TooHigh
@@ -92,8 +87,8 @@ class FeedbackAnalyzerImpl(
             isTooFar(pc) -> FeedbackState.TooFar
 
             // Height estimation last
-            isHeightTooLow(cameraHeight) -> FeedbackState.TooLow
-            isHeightTooHigh(cameraHeight) -> FeedbackState.TooHigh
+            isHeightTooLow(cameraHeight) -> FeedbackState.PhoneTooLow
+            isHeightTooHigh(cameraHeight) -> FeedbackState.PhoneTooHigh
 
             else -> FeedbackState.Optimal
         }
@@ -122,18 +117,17 @@ class FeedbackAnalyzerImpl(
         heightMeters > (thresholds.maxTargetHeightMeters)
 
     private fun estimateCameraHeight(
-        pc: Precomputed,
+        pixelHeight: Float,
         tiltDegrees: Float,
         focalLengthPx: Float
     ): Float {
         val tiltRad = Math.toRadians(tiltDegrees.toDouble())
 
         val realHeight = thresholds.subjectRealHeightMeters
-        val pixelHeight = pc.detectionHeight
-
         if (pixelHeight <= 0f || focalLengthPx <= 0f) return -1f
 
         val distance = (realHeight * focalLengthPx) / pixelHeight
+        Log.d("FeedbackAnalyzerImpl", "Distance: $distance")
         return (distance * sin(tiltRad)).toFloat()
     }
 

app/src/main/java/com/example/livingai/domain/ml/FrameMetadataProvider.kt

@@ -0,0 +1,182 @@
+package com.example.livingai.domain.ml
+
+import android.graphics.Bitmap
+import android.graphics.Rect
+import com.example.livingai.utils.TiltSensorManager
+
+object FrameMetadataProvider {
+
+    lateinit var aiModel: AIModel  // injected once from AppModule
+    var tiltSensorManager: TiltSensorManager? = null
+    
+    // External data sources
+    var latestDepthResult: DepthResult? = null
+    var deviceRotation: Int = 0
+
+    suspend fun getSegmentation(bitmap: Bitmap): SegmentationResult? {
+        return try {
+            val (_, booleanMask, bbox) = aiModel.segmentImage(bitmap) ?: return null
+            SegmentationResult(booleanMask, bbox)
+        } catch (_: Exception) {
+            null
+        }
+    }
+
+    data class SegmentationResult(
+        val mask: BooleanArray,
+        val boundingBox: Rect
+    ) {
+        override fun equals(other: Any?): Boolean {
+            if (this === other) return true
+            if (javaClass != other?.javaClass) return false
+
+            other as SegmentationResult
+
+            if (!mask.contentEquals(other.mask)) return false
+            if (boundingBox != other.boundingBox) return false
+
+            return true
+        }
+
+        override fun hashCode(): Int {
+            var result = mask.contentHashCode()
+            result = 31 * result + boundingBox.hashCode()
+            return result
+        }
+    }
+
+    fun getDepthData(): DepthResult {
+        return latestDepthResult ?: DepthResult(null, 0, 0, null)
+    }
+
+    data class DepthResult(
+        val depthMeters: FloatArray?,
+        val width: Int,
+        val height: Int,
+        val confidence: FloatArray?
+    ) {
+        override fun equals(other: Any?): Boolean {
+            if (this === other) return true
+            if (javaClass != other?.javaClass) return false
+
+            other as DepthResult
+
+            if (depthMeters != null) {
+                if (other.depthMeters == null) return false
+                if (!depthMeters.contentEquals(other.depthMeters)) return false
+            } else if (other.depthMeters != null) return false
+            if (width != other.width) return false
+            if (height != other.height) return false
+            if (confidence != null) {
+                if (other.confidence == null) return false
+                if (!confidence.contentEquals(other.confidence)) return false
+            } else if (other.confidence != null) return false
+
+            return true
+        }
+
+        override fun hashCode(): Int {
+            var result = depthMeters?.contentHashCode() ?: 0
+            result = 31 * result + width
+            result = 31 * result + height
+            result = 31 * result + (confidence?.contentHashCode() ?: 0)
+            return result
+        }
+    }
+
+    fun getIMU(): IMUResult {
+        val (pitch, roll, yaw) = tiltSensorManager?.tilt?.value ?: Triple(0f, 0f, 0f)
+        return IMUResult(pitch, roll, yaw)
+    }
+
+    data class IMUResult(val pitch: Float, val roll: Float, val yaw: Float)
+
+    fun getRotation(): Int {
+        return deviceRotation
+    }
+
+    data class FrameCollectedMetadata(
+        val segmentationBox: Rect?,
+        val depthMeters: FloatArray?,
+        val depthWidth: Int,
+        val depthHeight: Int,
+        val depthConfidence: FloatArray?,
+        val pitch: Float,
+        val roll: Float,
+        val yaw: Float,
+        val rotationDegrees: Int
+    ) {
+        override fun equals(other: Any?): Boolean {
+            if (this === other) return true
+            if (javaClass != other?.javaClass) return false
+
+            other as FrameCollectedMetadata
+
+            if (segmentationBox != other.segmentationBox) return false
+            if (depthMeters != null) {
+                if (other.depthMeters == null) return false
+                if (!depthMeters.contentEquals(other.depthMeters)) return false
+            } else if (other.depthMeters != null) return false
+            if (depthWidth != other.depthWidth) return false
+            if (depthHeight != other.depthHeight) return false
+            if (depthConfidence != null) {
+                if (other.depthConfidence == null) return false
+                if (!depthConfidence.contentEquals(other.depthConfidence)) return false
+            } else if (other.depthConfidence != null) return false
+            if (pitch != other.pitch) return false
+            if (roll != other.roll) return false
+            if (yaw != other.yaw) return false
+            if (rotationDegrees != other.rotationDegrees) return false
+
+            return true
+        }
+
+        override fun hashCode(): Int {
+            var result = segmentationBox?.hashCode() ?: 0
+            result = 31 * result + (depthMeters?.contentHashCode() ?: 0)
+            result = 31 * result + depthWidth
+            result = 31 * result + depthHeight
+            result = 31 * result + (depthConfidence?.contentHashCode() ?: 0)
+            result = 31 * result + pitch.hashCode()
+            result = 31 * result + roll.hashCode()
+            result = 31 * result + yaw.hashCode()
+            result = 31 * result + rotationDegrees
+            return result
+        }
+    }
+
+    suspend fun collectMetadata(bitmap: Bitmap): FrameCollectedMetadata {
+        val seg = getSegmentation(bitmap)
+        val depth = getDepthData()
+        val imu = getIMU()
+        val rot = getRotation()
+
+        return FrameCollectedMetadata(
+            segmentationBox = seg?.boundingBox,
+            depthMeters = depth.depthMeters,
+            depthWidth = depth.width,
+            depthHeight = depth.height,
+            depthConfidence = depth.confidence,
+            pitch = imu.pitch,
+            roll = imu.roll,
+            yaw = imu.yaw,
+            rotationDegrees = rot
+        )
+    }
+
+    fun FrameCollectedMetadata.toFrameData(bitmap: Bitmap): FrameData {
+        return FrameData(
+            imageBitmap = bitmap,
+            segmentationBox = segmentationBox,
+            segmentationMaskBitmap = null,
+            depthMapMeters = depthMeters,
+            depthWidth = depthWidth,
+            depthHeight = depthHeight,
+            depthConfidence = depthConfidence,
+            imuPitchDegrees = pitch,
+            imuRollDegrees = roll,
+            imuYawDegrees = yaw,
+            cameraRotationDegrees = rotationDegrees
+        )
+    }
+}

app/src/main/java/com/example/livingai/domain/ml/KnownDistanceEstimator.kt

@@ -0,0 +1,103 @@
+package com.example.livingai.domain.ml
+
+import com.example.livingai.utils.Constants
+import kotlin.math.abs
+import kotlin.math.min
+
+class KnownDimensionEstimator(
+    private val params: KnownDimensionParams = KnownDimensionParams()
+) : DistanceEstimator {
+
+    data class KnownDimensionParams(
+        val knownObjectHeightMeters: Float = Constants.DEFAULT_OBJECT_REAL_HEIGHT_METERS,
+        val targetDistanceMeters: Float = Constants.TARGET_DISTANCE_METERS,
+        val strictToleranceMeters: Float = Constants.DISTANCE_TOLERANCE_METERS_STRICT,
+        val relaxedToleranceMeters: Float = Constants.DISTANCE_TOLERANCE_METERS_RELAXED
+    )
+
+    override fun analyze(frame: FrameData, cameraInfo: CameraInfoData): DistanceState {
+
+        val tilted = abs(frame.imuPitchDegrees) > Constants.MAX_ACCEPTABLE_PITCH_DEGREES ||
+                abs(frame.imuRollDegrees) > Constants.MAX_ACCEPTABLE_ROLL_DEGREES
+
+        val rotated = (frame.cameraRotationDegrees % 360) != 0
+        val orientationOk = !tilted && !rotated
+        val centered = checkCentered(frame, cameraInfo)
+
+        val distEstimate = computeDistance(frame, cameraInfo)
+
+        val (recommendation, ready, conf) =
+            evaluateDistanceAndReadiness(distEstimate, centered, orientationOk)
+
+        return DistanceState(
+            distanceMeters = distEstimate,
+            recommendation = recommendation,
+            isCameraTilted = tilted,
+            isCameraRotated = rotated,
+            isOrientationCorrect = orientationOk,
+            isObjectCentered = centered,
+            readyToCapture = ready,
+            confidenceScore = conf
+        )
+    }
+
+    private fun computeDistance(
+        frame: FrameData,
+        cameraInfo: CameraInfoData
+    ): Float? {
+        val box = frame.segmentationBox ?: return null
+        val hPx = box.height().toFloat()
+        if (hPx <= 1f) return null
+
+        val f = cameraInfo.focalLengthPixels
+        return (f * params.knownObjectHeightMeters) / hPx
+    }
+
+    private fun evaluateDistanceAndReadiness(
+        distMeters: Float?,
+        centered: Boolean,
+        orientationOk: Boolean
+    ): Triple<DistanceRecommendation, Boolean, Float> {
+
+        if (distMeters == null)
+            return Triple(DistanceRecommendation.DISTANCE_UNKNOWN, false, 0f)
+
+        val diff = distMeters - params.targetDistanceMeters
+        val absDiff = abs(diff)
+
+        val withinStrict = absDiff <= params.strictToleranceMeters
+        val withinRelaxed = absDiff <= params.relaxedToleranceMeters
+
+        val recommendation = when {
+            withinStrict -> DistanceRecommendation.AT_OPTIMAL_DISTANCE
+            diff > 0f -> DistanceRecommendation.MOVE_CLOSER
+            else -> DistanceRecommendation.MOVE_AWAY
+        }
+
+        val ready = withinRelaxed && centered && orientationOk
+
+        val closenessScore = 1f - min(1f, absDiff / (params.relaxedToleranceMeters * 4f))
+        val conf = closenessScore * 0.9f +
+                (if (centered && orientationOk) 0.1f else 0f)
+
+        return Triple(recommendation, ready, conf)
+    }
+
+    private fun checkCentered(frame: FrameData, cameraInfo: CameraInfoData): Boolean {
+        val box = frame.segmentationBox ?: return false
+        val imgW = cameraInfo.sensorWidthPx
+        val imgH = cameraInfo.sensorHeightPx
+
+        val objCx = (box.left + box.right) / 2f
+        val objCy = (box.top + box.bottom) / 2f
+
+        val cx = imgW / 2f
+        val cy = imgH / 2f
+
+        val dx = abs(objCx - cx) / imgW
+        val dy = abs(objCy - cy) / imgH
+
+        return dx <= Constants.CENTER_TOLERANCE_X_FRACTION &&
+                dy <= Constants.CENTER_TOLERANCE_Y_FRACTION
+    }
+}

app/src/main/java/com/example/livingai/domain/repository/CameraRepository.kt

@@ -2,9 +2,10 @@ package com.example.livingai.domain.repository
 
 import android.graphics.Bitmap
 import androidx.camera.core.ImageProxy
+import com.example.livingai.domain.ml.DistanceState
 
 interface CameraRepository {
     suspend fun captureImage(imageProxy: ImageProxy): Bitmap
-    suspend fun processFrame(bitmap: Bitmap): String
+    suspend fun processFrame(bitmap: Bitmap): DistanceState
     suspend fun saveImage(bitmap: Bitmap, animalId: String, orientation: String?): String
 }

app/src/main/java/com/example/livingai/pages/camera/CameraScreen.kt

@@ -6,15 +6,21 @@ import androidx.camera.core.ImageCaptureException
 import androidx.camera.core.ImageProxy
 import androidx.camera.view.LifecycleCameraController
 import androidx.compose.foundation.Image
+import androidx.compose.foundation.background
 import androidx.compose.foundation.layout.Box
+import androidx.compose.foundation.layout.Column
 import androidx.compose.foundation.layout.fillMaxSize
+import androidx.compose.foundation.layout.padding
+import androidx.compose.foundation.shape.RoundedCornerShape
 import androidx.compose.material.icons.Icons
 import androidx.compose.material.icons.filled.Camera
 import androidx.compose.material3.CircularProgressIndicator
 import androidx.compose.material3.FabPosition
 import androidx.compose.material3.FloatingActionButton
 import androidx.compose.material3.Icon
+import androidx.compose.material3.MaterialTheme
 import androidx.compose.material3.Scaffold
+import androidx.compose.material3.Text
 import androidx.compose.runtime.Composable
 import androidx.compose.runtime.LaunchedEffect
 import androidx.compose.runtime.collectAsState
@@ -22,9 +28,11 @@ import androidx.compose.runtime.getValue
 import androidx.compose.runtime.remember
 import androidx.compose.ui.Alignment
 import androidx.compose.ui.Modifier
+import androidx.compose.ui.graphics.Color
 import androidx.compose.ui.graphics.asImageBitmap
 import androidx.compose.ui.layout.ContentScale
 import androidx.compose.ui.platform.LocalContext
+import androidx.compose.ui.unit.dp
 import androidx.navigation.NavController
 import androidx.core.content.ContextCompat
 import com.example.livingai.pages.components.CameraPreview
@@ -121,7 +129,7 @@ fun CameraScreen(
                     CameraPreview(
                         modifier = Modifier.fillMaxSize(),
                         controller = controller,
-                        onFrame = { bitmap, rotation ->
+                        onFrame = { bitmap, rotation, _ ->
                             viewModel.onEvent(CameraEvent.FrameReceived(bitmap, rotation))
                         }
                     )
@@ -146,15 +154,26 @@ fun CameraScreen(
                             alpha = 0.4f
                         )
                     }
+                }
 
-                    state.savedMaskBitmap?.let {
-                        Image(
-                            bitmap = it.asImageBitmap(),
-                            contentDescription = "Silhouette Overlay",
-                            modifier = Modifier.fillMaxSize(),
-                            contentScale = ContentScale.Fit,
-                            alpha = 0.4f
-                        )
+                // Debug Overlay
+                state.distanceState?.let { dist ->
+                    Box(
+                        modifier = Modifier
+                            .align(Alignment.TopEnd)
+                            .padding(16.dp)
+                            .background(Color.Black.copy(alpha = 0.5f), RoundedCornerShape(8.dp))
+                            .padding(8.dp)
+                    ) {
+                        Column {
+                            Text("Dist: ${dist.distanceMeters ?: "N/A"}", color = Color.White)
+                            Text("Rec: ${dist.recommendation}", color = Color.White)
+                            Text("Tilted: ${dist.isCameraTilted}", color = Color.White)
+                            Text("Rotated: ${dist.isCameraRotated}", color = Color.White)
+                            Text("Centered: ${dist.isObjectCentered}", color = Color.White)
+                            Text("Ready: ${dist.readyToCapture}", color = Color.White)
+                            Text("Conf: ${dist.confidenceScore}", color = Color.White)
+                        }
                     }
                 }
 

app/src/main/java/com/example/livingai/pages/camera/CameraViewModel.kt

@@ -7,6 +7,7 @@ import androidx.camera.core.ImageProxy
 import androidx.lifecycle.ViewModel
 import androidx.lifecycle.viewModelScope
 import com.example.livingai.domain.ml.AIModel
+import com.example.livingai.domain.ml.DistanceState
 import com.example.livingai.domain.repository.CameraRepository
 import com.example.livingai.domain.usecases.AppDataUseCases
 import com.example.livingai.utils.ScreenDimensions
@@ -94,6 +95,9 @@ class CameraViewModel(
         if (isProcessingFrame.compareAndSet(false, true)) {
             viewModelScope.launch {
                 try {
+                    // Process the frame for distance and metadata
+                    val distanceState = cameraRepository.processFrame(bitmap)
+                    
                     val result = aiModel.segmentImage(bitmap)
                     if (result != null) {
                         val (maskBitmap, _) = result
@@ -119,7 +123,8 @@ class CameraViewModel(
                             fitImageToCrop(rotatedMask, screenDims.screenHeight, screenDims.screenWidth)
 
                         _state.value = _state.value.copy(
-                            segmentationMask = output
+                            segmentationMask = output,
+                            distanceState = distanceState
                         )
 
                         if (_state.value.isAutoCaptureEnabled && 
@@ -139,7 +144,8 @@ class CameraViewModel(
                         }
                     } else {
                         _state.value = _state.value.copy(
-                            segmentationMask = null
+                            segmentationMask = null,
+                            distanceState = distanceState
                         )
                     }
                 } finally {
@@ -161,7 +167,8 @@ data class CameraUiState(
     val isAutoCaptureEnabled: Boolean = false,
     val matchThreshold: Int = 50,
     val distanceMethod: String = "Jaccard",
-    val shouldAutoCapture: Boolean = false
+    val shouldAutoCapture: Boolean = false,
+    val distanceState: DistanceState? = null
 )
 
 sealed class CameraEvent {

app/src/main/java/com/example/livingai/pages/camera/VideoRecordScreen.kt

@@ -159,11 +159,11 @@ fun VideoRecordScreen(
                 CameraPreview(
                     modifier = Modifier.fillMaxSize(),
                     controller = controller,
-                    onFrame = { bitmap, imageRotation ->
+                    onFrame = { bitmap, imageRotation, focalLength ->
                         frameWidth = bitmap.width
                         frameHeight = bitmap.height
                         rotation = imageRotation
-                        viewModel.onEvent(VideoEvent.FrameReceived(bitmap, imageRotation))
+                        viewModel.onEvent(VideoEvent.FrameReceived(bitmap, imageRotation, focalLength = focalLength))
                     }
                 )
                 

app/src/main/java/com/example/livingai/pages/components/CameraPreview.kt

@@ -1,24 +1,32 @@
 package com.example.livingai.pages.components
 
+import android.annotation.SuppressLint
 import android.graphics.Bitmap
+import android.hardware.camera2.CameraCharacteristics
 import android.view.ViewGroup
+import androidx.annotation.OptIn
+import androidx.camera.camera2.interop.Camera2CameraInfo
+import androidx.camera.camera2.interop.ExperimentalCamera2Interop
 import androidx.camera.core.CameraSelector
 import androidx.camera.view.LifecycleCameraController
 import androidx.camera.view.PreviewView
 import androidx.compose.runtime.Composable
 import androidx.compose.runtime.LaunchedEffect
+import androidx.compose.runtime.mutableStateOf
 import androidx.compose.runtime.remember
 import androidx.compose.ui.Modifier
 import androidx.compose.ui.platform.LocalContext
 import androidx.compose.ui.platform.LocalLifecycleOwner
 import androidx.compose.ui.viewinterop.AndroidView
+import kotlinx.coroutines.delay
 import java.util.concurrent.Executors
 
+@OptIn(ExperimentalCamera2Interop::class) 
 @Composable
 fun CameraPreview(
     modifier: Modifier = Modifier,
     controller: LifecycleCameraController? = null,
-    onFrame: ((Bitmap, Int) -> Unit)? = null
+    onFrame: ((Bitmap, Int, Float) -> Unit)? = null
 ) {
     val context = LocalContext.current
     val lifecycleOwner = LocalLifecycleOwner.current
@@ -26,12 +34,37 @@ fun CameraPreview(
 
     val cameraController = controller ?: remember { LifecycleCameraController(context) }
 
+    // State to hold the focal length. 
+    // Updated on the Main thread, read by the analysis background thread.
+    val focalLengthState = remember { mutableStateOf(0f) }
+
+    // Periodically check/update focal length on the Main thread
+    LaunchedEffect(cameraController) {
+        while(true) {
+            try {
+                val info = cameraController.cameraInfo
+                if (info != null) {
+                    val camera2Info = Camera2CameraInfo.from(info)
+                    val focalLengths = camera2Info.getCameraCharacteristic(CameraCharacteristics.LENS_INFO_AVAILABLE_FOCAL_LENGTHS)
+                    val fl = focalLengths?.firstOrNull() ?: 0f
+                    focalLengthState.value = fl
+                }
+            } catch (e: Exception) {
+                // Ignore errors, e.g. if camera is closing or not ready
+            }
+            // Check periodically in case the active camera changes
+            delay(2000) 
+        }
+    }
+
     if (onFrame != null) {
         LaunchedEffect(cameraController) {
             cameraController.setImageAnalysisAnalyzer(cameraExecutor) { imageProxy ->
                 val bitmap = imageProxy.toBitmap()
                 val rotationDegrees = imageProxy.imageInfo.rotationDegrees
-                onFrame(bitmap, rotationDegrees)
+                val currentFocalLength = focalLengthState.value
+
+                onFrame(bitmap, rotationDegrees, currentFocalLength)
                 imageProxy.close()
             }
         }

app/src/main/java/com/example/livingai/utils/Constants.kt

@@ -20,4 +20,31 @@ object Constants {
     val VIDEO_SILHOETTE_FRAME_HEIGHT = 300.dp
     const val JACCARD_THRESHOLD = 85
     const val MODEL_HEIGHT = 320F
+
+    // Target operational distance (meters)
+    const val TARGET_DISTANCE_METERS = 5.0f
+
+    // Tolerances
+    const val DISTANCE_TOLERANCE_METERS_STRICT = 0.10f
+    const val DISTANCE_TOLERANCE_METERS_RELAXED = 0.25f
+
+    // ARCore confidence threshold
+    const val DEPTH_CONFIDENCE_MIN = 0.6f
+
+    const val MIN_DEPTH_SAMPLES = 20
+
+    // IMU orientation limits
+    const val MAX_ACCEPTABLE_PITCH_DEGREES = 5f
+    const val MAX_ACCEPTABLE_ROLL_DEGREES = 3f
+
+    // Object centering thresholds
+    const val CENTER_TOLERANCE_X_FRACTION = 0.15f
+    const val CENTER_TOLERANCE_Y_FRACTION = 0.20f
+
+    // Fallback known-object dimension
+    const val DEFAULT_OBJECT_REAL_HEIGHT_METERS = 1.2f
+
+    // Fusion weights
+    const val WEIGHT_ARCORE = 0.8f
+    const val WEIGHT_KNOWN_DIM = 0.2f
 }