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| 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 | 'use client' import { useCallback, useEffect, useRef, useState } from 'react' import type { CalibrationGrid } from '@/types/vision' import { cleanupArucoDetector, detectMarkers, initArucoDetector, isArucoAvailable, loadAruco, } from '@/lib/vision/arucoDetection' export interface UseMarkerDetectionOptions { /** Whether marker detection is enabled */ enabled: boolean /** Video element to detect markers from */ videoElement: HTMLVideoElement | null /** Number of columns for the calibration grid */ columnCount: number /** Callback when calibration changes */ onCalibrationChange?: (calibration: CalibrationGrid | null) => void } export interface UseMarkerDetectionResult { /** Whether ArUco library is loaded and ready */ isReady: boolean /** Number of markers currently detected (0-4) */ markersFound: number /** Current calibration grid (null if not all 4 markers found) */ calibration: CalibrationGrid | null /** Whether all 4 markers are detected and calibration is valid */ isCalibrated: boolean } /** * Hook for ArUco marker detection and automatic calibration * * Detects 4 ArUco markers in the video feed and creates a calibration grid * for perspective correction. Used by: * - CameraCapture (training data capture) * - DockedVisionFeed (practice sessions) * * @example * ```tsx * const { isCalibrated, calibration, markersFound } = useMarkerDetection({ * enabled: true, * videoElement: videoRef.current, * columnCount: 4, * onCalibrationChange: (cal) => console.log('Calibration updated:', cal), * }) * ``` */ export function useMarkerDetection({ enabled, videoElement, columnCount, onCalibrationChange, }: UseMarkerDetectionOptions): UseMarkerDetectionResult { const [isReady, setIsReady] = useState(false) const [markersFound, setMarkersFound] = useState(0) const [calibration, setCalibration] = useState<CalibrationGrid | null>(null) const detectionFrameRef = useRef<number | null>(null) const lastCalibrationRef = useRef<CalibrationGrid | null>(null) // Load and initialize ArUco library useEffect(() => { if (!enabled) { setIsReady(false) return } let cancelled = false const initAruco = async () => { try { await loadAruco() if (cancelled) return const available = isArucoAvailable() if (available) { initArucoDetector() setIsReady(true) } } catch (err) { console.error('[useMarkerDetection] Failed to load ArUco:', err) } } initAruco() return () => { cancelled = true } }, [enabled]) // Cleanup detector on unmount useEffect(() => { return () => { cleanupArucoDetector() } }, []) // Update calibration and notify callback const updateCalibration = useCallback( (newCalibration: CalibrationGrid | null) => { // Only update if changed (avoid infinite loops) const prev = lastCalibrationRef.current const changed = (prev === null && newCalibration !== null) || (prev !== null && newCalibration === null) || (prev !== null && newCalibration !== null && JSON.stringify(prev.corners) !== JSON.stringify(newCalibration.corners)) if (changed) { lastCalibrationRef.current = newCalibration setCalibration(newCalibration) onCalibrationChange?.(newCalibration) } }, [onCalibrationChange] ) // Detection loop useEffect(() => { if (!enabled || !isReady || !videoElement) { // Stop detection if disabled or not ready if (detectionFrameRef.current) { cancelAnimationFrame(detectionFrameRef.current) detectionFrameRef.current = null } // Reset marker count when disabled, but keep calibration if (!enabled) { setMarkersFound(0) } return } let running = true const detectLoop = () => { if (!running) return // Wait for video to be ready if (videoElement.readyState < 2) { detectionFrameRef.current = requestAnimationFrame(detectLoop) return } const result = detectMarkers(videoElement) setMarkersFound(result.markersFound) // Update calibration ONLY when all 4 markers found // Do NOT clear calibration when markers are lost - keep using the last good calibration // (This matches DockedVisionFeed behavior) if (result.allMarkersFound && result.quadCorners) { const grid: CalibrationGrid = { roi: { x: Math.min(result.quadCorners.topLeft.x, result.quadCorners.bottomLeft.x), y: Math.min(result.quadCorners.topLeft.y, result.quadCorners.topRight.y), width: Math.max(result.quadCorners.topRight.x, result.quadCorners.bottomRight.x) - Math.min(result.quadCorners.topLeft.x, result.quadCorners.bottomLeft.x), height: Math.max(result.quadCorners.bottomLeft.y, result.quadCorners.bottomRight.y) - Math.min(result.quadCorners.topLeft.y, result.quadCorners.topRight.y), }, corners: result.quadCorners, columnCount, columnDividers: Array.from({ length: columnCount - 1 }, (_, i) => (i + 1) / columnCount), rotation: 0, } updateCalibration(grid) } // When markers are lost, keep the existing calibration detectionFrameRef.current = requestAnimationFrame(detectLoop) } detectLoop() return () => { running = false if (detectionFrameRef.current) { cancelAnimationFrame(detectionFrameRef.current) detectionFrameRef.current = null } } }, [enabled, isReady, videoElement, columnCount, updateCalibration]) return { isReady, markersFound, calibration, isCalibrated: calibration !== null, } } |