fix: restore full-frame output mode switching

src/VizumCamera.cpp

@@ -112,15 +112,11 @@ std::mutex& OutputRoiModeMutex()
     return mutex;
 }
 
-class FullFrameRoiRestoreGuard
+class OutputRoiModeRestoreGuard
 {
 public:
-    FullFrameRoiRestoreGuard(VZNLHANDLE deviceHandle,
-                             const SVzNLROIRect& initialLeftROI,
-                             const SVzNLROIRect& initialRightROI)
-        : m_guardDeviceHandle(deviceHandle),
-          m_initialLeftROI(initialLeftROI),
-          m_initialRightROI(initialRightROI)
+    explicit OutputRoiModeRestoreGuard(VZNLHANDLE deviceHandle)
+        : m_guardDeviceHandle(deviceHandle)
     {
         int queryError = 0;
         m_previousCalibRoi = VzNL_IsEnableCalibROI(m_guardDeviceHandle, &queryError);
@@ -132,57 +128,24 @@ public:
             return;
         }
 
-        VzNL_SetOutputROIImage(VzTrue);
-        int ret = VzNL_EnableCalibROI(m_guardDeviceHandle, VzTrue);
-        if (ret != 0) {
-            char errorMsg[256] = {0};
-            VzNL_GetErrorInfo(ret, errorMsg);
-            LOG_ERROR("[VizumCamera] Cannot enable CalibROI before configuring full-frame ROI: {} "
-                      "(error code: {})", errorMsg, ret);
-            return;
-        }
-        m_restoreRequired = true;
-
-        SVzVideoResolution resolution{};
-        ret = VzNL_GetResolution(m_guardDeviceHandle, &resolution);
-        if (ret != 0 || resolution.nFrameWidth == 0 || resolution.nFrameHeight == 0) {
-            char errorMsg[256] = {0};
-            VzNL_GetErrorInfo(ret, errorMsg);
-            LOG_ERROR("[VizumCamera] Cannot read full-frame resolution after enabling CalibROI: {} "
-                      "(error code: {}), size={}x{}",
-                      errorMsg, ret, resolution.nFrameWidth, resolution.nFrameHeight);
-            RestoreNow();
-            return;
-        }
-        m_frameWidth = resolution.nFrameWidth;
-        m_frameHeight = resolution.nFrameHeight;
-
-        SVzNLROIRect fullLeftROI{};
-        fullLeftROI.right = m_frameWidth;
-        fullLeftROI.bottom = m_frameHeight;
-        SVzNLROIRect fullRightROI{};
-        fullRightROI.right = m_frameWidth;
-        fullRightROI.bottom = m_frameHeight;
-        ret = VzNL_ConfigDetectROI(m_guardDeviceHandle, &fullLeftROI, &fullRightROI);
-        if (ret != 0) {
-            char errorMsg[256] = {0};
-            VzNL_GetErrorInfo(ret, errorMsg);
-            LOG_ERROR("[VizumCamera] Cannot configure full-frame detection ROI: {} "
-                      "(error code: {}), requested=[0, {}, 0, {}]",
-                      errorMsg, ret, m_frameWidth, m_frameHeight);
-            RestoreNow();
-            return;
+        if (m_previousCalibRoi == VzTrue) {
+            const int ret = VzNL_EnableCalibROI(m_guardDeviceHandle, VzFalse);
+            if (ret != 0) {
+                char errorMsg[256] = {0};
+                VzNL_GetErrorInfo(ret, errorMsg);
+                LOG_ERROR("[VizumCamera] Cannot disable CalibROI for raw full-frame capture: {} "
+                          "(error code: {})", errorMsg, ret);
+                return;
+            }
+            m_calibRoiChanged = true;
         }
 
+        // 官方接口语义：VzFalse 输出完整原始图，检测/点云 ROI 不参与也不得改写。
+        VzNL_SetOutputROIImage(VzFalse);
+        m_outputModeChanged = true;
         m_ready = true;
-        LOG_INFO("[VizumCamera] Temporary full-frame ROI configured through SDK: "
-                 "left/right=[0, {}, 0, {}]; initial left=[{}, {}, {}, {}], "
-                 "right=[{}, {}, {}, {}]",
-                 m_frameWidth, m_frameHeight,
-                 m_initialLeftROI.left, m_initialLeftROI.right,
-                 m_initialLeftROI.top, m_initialLeftROI.bottom,
-                 m_initialRightROI.left, m_initialRightROI.right,
-                 m_initialRightROI.top, m_initialRightROI.bottom);
+        LOG_INFO("[VizumCamera] Full-frame 2D mode applied: CalibROI=false, "
+                 "OutputROI=false; configured detection/point-cloud ROI untouched");
     }
 
     bool IsReady() const
@@ -190,89 +153,53 @@ public:
         return m_ready;
     }
 
-    unsigned int FrameWidth() const
-    {
-        return m_frameWidth;
-    }
-
-    unsigned int FrameHeight() const
-    {
-        return m_frameHeight;
-    }
-
     bool RestoreNow()
     {
-        if (m_restoreAttempted && m_restoreSucceeded)
+        if (m_restoreAttempted)
             return m_restoreSucceeded;
 
         m_restoreAttempted = true;
-        if (!m_restoreRequired) {
+        if (!m_outputModeChanged && !m_calibRoiChanged) {
             m_restoreSucceeded = true;
             return true;
         }
 
+        if (m_outputModeChanged)
+            VzNL_SetOutputROIImage(VzTrue);
+
         m_restoreSucceeded = true;
-        int ret = VzNL_EnableCalibROI(m_guardDeviceHandle, VzFalse);
-        if (ret != 0) {
-            char errorMsg[256] = {0};
-            VzNL_GetErrorInfo(ret, errorMsg);
-            LOG_ERROR("[VizumCamera] Failed to disable CalibROI before restoring initial ROI: {} "
-                      "(error code: {})", errorMsg, ret);
-            m_restoreSucceeded = false;
+        if (m_calibRoiChanged) {
+            const int ret = VzNL_EnableCalibROI(m_guardDeviceHandle, m_previousCalibRoi);
+            if (ret != 0) {
+                char errorMsg[256] = {0};
+                VzNL_GetErrorInfo(ret, errorMsg);
+                LOG_ERROR("[VizumCamera] Failed to restore CalibROI after full-frame capture: {} "
+                          "(error code: {})", errorMsg, ret);
+                m_restoreSucceeded = false;
+            }
         }
 
-        ret = VzNL_ConfigDetectROI(m_guardDeviceHandle, &m_initialLeftROI, &m_initialRightROI);
-        if (ret != 0) {
-            char errorMsg[256] = {0};
-            VzNL_GetErrorInfo(ret, errorMsg);
-            LOG_ERROR("[VizumCamera] Failed to restore initial detection ROI: {} "
-                      "(error code: {}), left=[{}, {}, {}, {}], right=[{}, {}, {}, {}]",
-                      errorMsg, ret,
-                      m_initialLeftROI.left, m_initialLeftROI.right,
-                      m_initialLeftROI.top, m_initialLeftROI.bottom,
-                      m_initialRightROI.left, m_initialRightROI.right,
-                      m_initialRightROI.top, m_initialRightROI.bottom);
-            m_restoreSucceeded = false;
-        }
-
-        ret = VzNL_EnableCalibROI(m_guardDeviceHandle, m_previousCalibRoi);
-        if (ret != 0) {
-            char errorMsg[256] = {0};
-            VzNL_GetErrorInfo(ret, errorMsg);
-            LOG_ERROR("[VizumCamera] Failed to restore CalibROI mode after full-frame capture: {} "
-                      "(error code: {})", errorMsg, ret);
-            m_restoreSucceeded = false;
-        }
-        VzNL_SetOutputROIImage(VzTrue);
-
         if (m_restoreSucceeded) {
-            LOG_INFO("[VizumCamera] Initial detection ROI restored after full-frame capture: "
-                     "left=[{}, {}, {}, {}], right=[{}, {}, {}, {}], CalibROI={}",
-                     m_initialLeftROI.left, m_initialLeftROI.right,
-                     m_initialLeftROI.top, m_initialLeftROI.bottom,
-                     m_initialRightROI.left, m_initialRightROI.right,
-                     m_initialRightROI.top, m_initialRightROI.bottom,
+            LOG_INFO("[VizumCamera] ROI image mode restored: CalibROI={}, OutputROI=true; "
+                     "configured detection/point-cloud ROI untouched",
                      m_previousCalibRoi == VzTrue);
         }
         return m_restoreSucceeded;
     }
 
-    ~FullFrameRoiRestoreGuard()
+    ~OutputRoiModeRestoreGuard()
     {
         RestoreNow();
     }
 
-    FullFrameRoiRestoreGuard(const FullFrameRoiRestoreGuard&) = delete;
-    FullFrameRoiRestoreGuard& operator=(const FullFrameRoiRestoreGuard&) = delete;
+    OutputRoiModeRestoreGuard(const OutputRoiModeRestoreGuard&) = delete;
+    OutputRoiModeRestoreGuard& operator=(const OutputRoiModeRestoreGuard&) = delete;
 
 private:
     VZNLHANDLE m_guardDeviceHandle = nullptr;
-    SVzNLROIRect m_initialLeftROI{};
-    SVzNLROIRect m_initialRightROI{};
     VzBool m_previousCalibRoi = VzFalse;
-    unsigned int m_frameWidth = 0;
-    unsigned int m_frameHeight = 0;
-    bool m_restoreRequired = false;
+    bool m_calibRoiChanged = false;
+    bool m_outputModeChanged = false;
     bool m_ready = false;
     bool m_restoreAttempted = false;
     bool m_restoreSucceeded = false;
@@ -1120,25 +1047,13 @@ bool VizumCamera::CaptureFullFrameLeftImage(SLImage& image,
         return false;
     }
 
-    // Official SDK sample sequence starts by disabling CalibROI before
-    // reading the ROI that will be restored after the full-frame capture.
-    int ret = VzNL_EnableCalibROI(m_deviceHandle, VzFalse);
-    if (ret != 0) {
-        char errorMsg[256] = {0};
-        VzNL_GetErrorInfo(ret, errorMsg);
-        LOG_ERROR("[VizumCamera] Official full-frame transaction cannot disable CalibROI "
-                  "before reading initial ROI: {} (error code: {})", errorMsg, ret);
-        return false;
-    }
-    LOG_INFO("[VizumCamera] Official full-frame transaction baseline applied: CalibROI=false");
-
     const SVzNLROIRect expectedLeftROI{initialLeftROI.left, initialLeftROI.right,
                                       initialLeftROI.top, initialLeftROI.bottom};
     const SVzNLROIRect expectedRightROI{initialRightROI.left, initialRightROI.right,
                                        initialRightROI.top, initialRightROI.bottom};
     SVzNLROIRect currentLeftROI{};
     SVzNLROIRect currentRightROI{};
-    ret = VzNL_GetConfigDetectROI(m_deviceHandle, &currentLeftROI, &currentRightROI);
+    int ret = VzNL_GetConfigDetectROI(m_deviceHandle, &currentLeftROI, &currentRightROI);
     if (ret != 0) {
         char errorMsg[256] = {0};
         VzNL_GetErrorInfo(ret, errorMsg);
@@ -1150,7 +1065,7 @@ bool VizumCamera::CaptureFullFrameLeftImage(SLImage& image,
     if (!SameSdkRoi(currentLeftROI, expectedLeftROI)
         || !SameSdkRoi(currentRightROI, expectedRightROI)) {
         LOG_ERROR("[VizumCamera] Current ROI differs from the connection-time point-cloud ROI; "
-                  "restoring expected state and rejecting this capture. current left=[{}, {}, {}, {}], "
+                  "rejecting full-frame capture without writing camera ROI. current left=[{}, {}, {}, {}], "
                   "right=[{}, {}, {}, {}]; expected left=[{}, {}, {}, {}], right=[{}, {}, {}, {}]",
                   currentLeftROI.left, currentLeftROI.right,
                   currentLeftROI.top, currentLeftROI.bottom,
@@ -1160,63 +1075,19 @@ bool VizumCamera::CaptureFullFrameLeftImage(SLImage& image,
                   expectedLeftROI.top, expectedLeftROI.bottom,
                   expectedRightROI.left, expectedRightROI.right,
                   expectedRightROI.top, expectedRightROI.bottom);
-        ret = VzNL_ConfigDetectROI(m_deviceHandle, &expectedLeftROI, &expectedRightROI);
-        const bool recoverySucceeded = ret == 0;
-        if (!recoverySucceeded) {
-            char errorMsg[256] = {0};
-            VzNL_GetErrorInfo(ret, errorMsg);
-            LOG_ERROR("[VizumCamera] Failed to restore expected ROI while CalibROI=false: {} "
-                      "(error code: {})", errorMsg, ret);
-        }
-        ret = VzNL_GetConfigDetectROI(m_deviceHandle, &currentLeftROI, &currentRightROI);
-        cameraStateRestored = recoverySucceeded && ret == 0
-            && SameSdkRoi(currentLeftROI, expectedLeftROI)
-            && SameSdkRoi(currentRightROI, expectedRightROI);
         return false;
     }
 
-    FullFrameRoiRestoreGuard roiGuard(m_deviceHandle, expectedLeftROI, expectedRightROI);
-    if (!roiGuard.IsReady()) {
-        const bool restoreSucceeded = roiGuard.RestoreNow();
-        ret = VzNL_GetConfigDetectROI(m_deviceHandle, &currentLeftROI, &currentRightROI);
-        cameraStateRestored = restoreSucceeded && ret == 0
-            && SameSdkRoi(currentLeftROI, expectedLeftROI)
-            && SameSdkRoi(currentRightROI, expectedRightROI);
-        return false;
-    }
-    const unsigned int frameWidth = roiGuard.FrameWidth();
-    const unsigned int frameHeight = roiGuard.FrameHeight();
+    LOG_INFO("[VizumCamera] Point-cloud ROI snapshot verified before full-frame 2D capture: "
+             "left=[{}, {}, {}, {}], right=[{}, {}, {}, {}]",
+             currentLeftROI.left, currentLeftROI.right,
+             currentLeftROI.top, currentLeftROI.bottom,
+             currentRightROI.left, currentRightROI.right,
+             currentRightROI.top, currentRightROI.bottom);
 
-    SVzNLROIRect configuredLeftROI{};
-    SVzNLROIRect configuredRightROI{};
-    ret = VzNL_GetConfigDetectROI(m_deviceHandle, &configuredLeftROI, &configuredRightROI);
-    const auto isFullFrameRoi = [frameWidth, frameHeight](const SVzNLROIRect& roi) {
-        return roi.left == 0 && roi.top == 0
-            && roi.right == static_cast<int>(frameWidth)
-            && roi.bottom == static_cast<int>(frameHeight);
-    };
-    if (ret != 0 || !isFullFrameRoi(configuredLeftROI) || !isFullFrameRoi(configuredRightROI)) {
-        char errorMsg[256] = {0};
-        VzNL_GetErrorInfo(ret, errorMsg);
-        LOG_ERROR("[VizumCamera] SDK full-frame ROI readback verification failed: {} "
-                  "(error code: {}), left=[{}, {}, {}, {}], right=[{}, {}, {}, {}], "
-                  "expected=[0, {}, 0, {}]",
-                  errorMsg, ret,
-                  configuredLeftROI.left, configuredLeftROI.right,
-                  configuredLeftROI.top, configuredLeftROI.bottom,
-                  configuredRightROI.left, configuredRightROI.right,
-                  configuredRightROI.top, configuredRightROI.bottom,
-                  frameWidth, frameHeight);
-        const bool restoreSucceeded = roiGuard.RestoreNow();
-        ret = VzNL_GetConfigDetectROI(m_deviceHandle, &currentLeftROI, &currentRightROI);
-        cameraStateRestored = restoreSucceeded && ret == 0
-            && SameSdkRoi(currentLeftROI, expectedLeftROI)
-            && SameSdkRoi(currentRightROI, expectedRightROI);
+    OutputRoiModeRestoreGuard outputModeGuard(m_deviceHandle);
+    if (!outputModeGuard.IsReady())
         return false;
-    }
-    LOG_INFO("[VizumCamera] SDK full-frame ROI readback verified before 2D capture: "
-             "left/right=[0, {}, 0, {}]",
-             frameWidth, frameHeight);
 
     SVzNLImageData* leftImage = nullptr;
     SVzNLImageData* rightImage = nullptr;
@@ -1239,18 +1110,16 @@ bool VizumCamera::CaptureFullFrameLeftImage(SLImage& image,
     const bool rightReleased = rightImageGuard.ReleaseNow();
     const bool imagesReleased = leftReleased && rightReleased;
 
+    // OutputROI=false 返回原始全画幅；它与校正画布分辨率属于不同坐标空间。
     const bool validFullFrame = converted && !image.empty()
-        && image.originX == 0 && image.originY == 0
-        && image.width == frameWidth
-        && image.height == frameHeight;
+        && image.originX == 0 && image.originY == 0;
     if (converted && !validFullFrame) {
-        LOG_ERROR("[VizumCamera] Configured full-frame image contract failed: "
-                  "image={}x{} origin=({}, {}), expected={}x{} origin=(0, 0)",
-                  image.width, image.height, image.originX, image.originY,
-                  frameWidth, frameHeight);
+        LOG_ERROR("[VizumCamera] Raw full-frame image has invalid payload/origin: "
+                  "image={}x{} origin=({}, {})",
+                  image.width, image.height, image.originX, image.originY);
     }
 
-    const bool initialRoiRestored = roiGuard.RestoreNow();
+    const bool imageModesRestored = outputModeGuard.RestoreNow();
 
     ret = VzNL_GetConfigDetectROI(m_deviceHandle, &currentLeftROI, &currentRightROI);
     const bool roiUnchanged = ret == 0
@@ -1262,7 +1131,7 @@ bool VizumCamera::CaptureFullFrameLeftImage(SLImage& image,
         LOG_ERROR("[VizumCamera] Failed to query detection ROI after full-frame capture: {} "
                   "(error code: {})", errorMsg, ret);
     } else if (!roiUnchanged) {
-        LOG_ERROR("[VizumCamera] Detection ROI was not restored after full-frame capture; "
+        LOG_ERROR("[VizumCamera] Detection ROI changed during output-only full-frame capture; "
                   "before left=[{}, {}, {}, {}], right=[{}, {}, {}, {}]; "
                   "after left=[{}, {}, {}, {}], right=[{}, {}, {}, {}]",
                   expectedLeftROI.left, expectedLeftROI.right,
@@ -1282,7 +1151,7 @@ bool VizumCamera::CaptureFullFrameLeftImage(SLImage& image,
                  currentRightROI.top, currentRightROI.bottom);
     }
 
-    cameraStateRestored = initialRoiRestored && roiUnchanged;
+    cameraStateRestored = imageModesRestored && roiUnchanged;
 
     if (!validFullFrame || !imagesReleased || !cameraStateRestored) {
         image.clear();
@@ -1291,8 +1160,8 @@ bool VizumCamera::CaptureFullFrameLeftImage(SLImage& image,
 
     const uint64_t id = ++m_frameCounter;
     frameId = "VZ_FULL_" + std::to_string(id);
-    LOG_INFO("[VizumCamera] Full-frame 2D transaction completed: "
-             "frameId={}, output={}x{} origin=(0, 0), initial ROI restored",
+    LOG_INFO("[VizumCamera] Full-frame 2D transaction completed without writing camera ROI: "
+             "frameId={}, output={}x{} origin=(0, 0), image modes restored",
              frameId, image.width, image.height);
     return true;
 #else