fix: capture full frame with ROI restoration
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@ -106,6 +106,100 @@ struct VizumCamera::Impl {
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#ifdef ENABLE_VIZUM_CAMERA
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namespace {
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class DetectRoiRestoreGuard
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{
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public:
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DetectRoiRestoreGuard(VZNLHANDLE device,
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const SVzNLROIRect& leftROI,
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const SVzNLROIRect& rightROI)
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: m_device(device), m_leftROI(leftROI), m_rightROI(rightROI)
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{
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}
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bool RestoreNow()
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{
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if (m_restored)
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return true;
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const int ret = VzNL_ConfigDetectROI(m_device, &m_leftROI, &m_rightROI);
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if (ret != 0) {
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char errorMsg[256] = {0};
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VzNL_GetErrorInfo(ret, errorMsg);
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LOG_ERROR("[VizumCamera] Failed to restore detection ROI: {} (error code: {})",
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errorMsg, ret);
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return false;
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}
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m_restored = true;
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LOG_INFO("[VizumCamera] Detection ROI restored: left=[{}, {}, {}, {}], "
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"right=[{}, {}, {}, {}]",
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m_leftROI.left, m_leftROI.right, m_leftROI.top, m_leftROI.bottom,
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m_rightROI.left, m_rightROI.right, m_rightROI.top, m_rightROI.bottom);
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return true;
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}
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~DetectRoiRestoreGuard()
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{
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if (!m_restored && !RestoreNow())
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LOG_ERROR("[VizumCamera] Emergency detection ROI restoration failed");
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}
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DetectRoiRestoreGuard(const DetectRoiRestoreGuard&) = delete;
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DetectRoiRestoreGuard& operator=(const DetectRoiRestoreGuard&) = delete;
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private:
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VZNLHANDLE m_device = nullptr;
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SVzNLROIRect m_leftROI{};
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SVzNLROIRect m_rightROI{};
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bool m_restored = false;
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};
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bool NormalizeToDeviceFrame(SLImage& image, uint32_t frameWidth, uint32_t frameHeight)
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{
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if (image.empty() || frameWidth == 0 || frameHeight == 0
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|| image.originX < 0 || image.originY < 0 || image.channels <= 0) {
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return false;
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}
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const uint64_t right = static_cast<uint64_t>(image.originX) + image.width;
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const uint64_t bottom = static_cast<uint64_t>(image.originY) + image.height;
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if (right > frameWidth || bottom > frameHeight)
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return false;
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if (image.originX == 0 && image.originY == 0
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&& image.width == frameWidth && image.height == frameHeight) {
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return true;
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}
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const size_t bytesPerChannel = image.bitDepth > 8 ? 2u : 1u;
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const size_t pixelBytes = static_cast<size_t>(image.channels) * bytesPerChannel;
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const size_t sourceRowBytes = static_cast<size_t>(image.width) * pixelBytes;
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if (image.data.size() < sourceRowBytes * image.height)
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return false;
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SLImage fullImage;
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fullImage.width = frameWidth;
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fullImage.height = frameHeight;
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fullImage.originX = 0;
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fullImage.originY = 0;
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fullImage.channels = image.channels;
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fullImage.bitDepth = image.bitDepth;
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fullImage.data.assign(static_cast<size_t>(frameWidth) * frameHeight * pixelBytes, 0);
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const size_t targetRowBytes = static_cast<size_t>(frameWidth) * pixelBytes;
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const size_t targetXBytes = static_cast<size_t>(image.originX) * pixelBytes;
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for (uint32_t row = 0; row < image.height; ++row) {
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const size_t sourceOffset = static_cast<size_t>(row) * sourceRowBytes;
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const size_t targetOffset = (static_cast<size_t>(image.originY) + row) * targetRowBytes
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+ targetXBytes;
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std::memcpy(fullImage.data.data() + targetOffset,
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image.data.data() + sourceOffset, sourceRowBytes);
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}
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image = std::move(fullImage);
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return true;
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}
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const char* DeviceStatusName(int status)
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{
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switch (static_cast<EVzDeviceWorkStatus>(status)) {
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@ -826,6 +920,8 @@ bool VizumCamera::ConvertVzImageToSLImage(void* vzImagePtr, SLImage& slImage)
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slImage.width = vzImage->nWidth;
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slImage.height = vzImage->nHeight;
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slImage.originX = vzImage->ptOriPos.x;
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slImage.originY = vzImage->ptOriPos.y;
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slImage.channels = vzImage->nChannels;
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slImage.bitDepth = vzImage->byBitDepth;
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@ -864,6 +960,100 @@ bool VizumCamera::GetRightImage(SLImage& image)
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return !image.empty();
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}
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bool VizumCamera::CaptureFullFrameLeftImage(SLImage& image, std::string& frameId)
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{
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image.clear();
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frameId.clear();
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#ifdef ENABLE_VIZUM_CAMERA
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const std::lock_guard<std::mutex> deviceLock(m_deviceAccessMutex);
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if (!m_isConnected || !m_deviceHandle) {
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LOG_ERROR("[VizumCamera] Full-frame capture failed: device not connected");
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return false;
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}
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SVzNLROIRect oldLeftROI{};
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SVzNLROIRect oldRightROI{};
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int ret = VzNL_GetConfigDetectROI(m_deviceHandle, &oldLeftROI, &oldRightROI);
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if (ret != 0) {
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char errorMsg[256] = {0};
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VzNL_GetErrorInfo(ret, errorMsg);
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LOG_ERROR("[VizumCamera] Full-frame capture cannot read detection ROI: {} "
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"(error code: {})", errorMsg, ret);
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return false;
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}
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SVzVideoResolution resolution{};
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ret = VzNL_GetResolution(m_deviceHandle, &resolution);
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if (ret != 0 || resolution.nFrameWidth == 0 || resolution.nFrameHeight == 0) {
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char errorMsg[256] = {0};
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VzNL_GetErrorInfo(ret, errorMsg);
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LOG_ERROR("[VizumCamera] Full-frame capture cannot read device resolution: {} "
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"(error code: {}, size={}x{})", errorMsg, ret,
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resolution.nFrameWidth, resolution.nFrameHeight);
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return false;
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}
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DetectRoiRestoreGuard restoreGuard(m_deviceHandle, oldLeftROI, oldRightROI);
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const SVzNLROIRect fullLeftROI{0, static_cast<int>(resolution.nFrameWidth),
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0, static_cast<int>(resolution.nFrameHeight)};
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const SVzNLROIRect fullRightROI = fullLeftROI;
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ret = VzNL_ConfigDetectROI(m_deviceHandle, &fullLeftROI, &fullRightROI);
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if (ret != 0) {
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char errorMsg[256] = {0};
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VzNL_GetErrorInfo(ret, errorMsg);
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LOG_ERROR("[VizumCamera] Failed to apply temporary full-frame ROI: {} "
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"(error code: {}, size={}x{})", errorMsg, ret,
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resolution.nFrameWidth, resolution.nFrameHeight);
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return false;
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}
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LOG_INFO("[VizumCamera] Temporary full-frame ROI applied: {}x{}; CalibROI unchanged",
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resolution.nFrameWidth, resolution.nFrameHeight);
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SVzNLImageData* leftImage = nullptr;
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SVzNLImageData* rightImage = nullptr;
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ret = VzNL_GetEyeImage(m_deviceHandle, &leftImage, &rightImage, 3000);
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bool converted = false;
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if (ret == 0 && leftImage) {
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converted = ConvertVzImageToSLImage(leftImage, image);
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LOG_INFO("[VizumCamera] Full-frame SDK image received: size={}x{}, origin=({}, {})",
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leftImage->nWidth, leftImage->nHeight,
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leftImage->ptOriPos.x, leftImage->ptOriPos.y);
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} else {
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char errorMsg[256] = {0};
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VzNL_GetErrorInfo(ret, errorMsg);
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LOG_ERROR("[VizumCamera] Full-frame image acquisition failed: {} (error code: {})",
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errorMsg, ret);
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}
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if (leftImage)
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VzNL_ReleaseImage(&leftImage);
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if (rightImage)
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VzNL_ReleaseImage(&rightImage);
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const bool normalized = converted
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&& NormalizeToDeviceFrame(image, resolution.nFrameWidth, resolution.nFrameHeight);
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if (converted && !normalized) {
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LOG_ERROR("[VizumCamera] SDK full-frame image cannot be placed in device frame: "
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"image={}x{} origin=({}, {}), device={}x{}",
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image.width, image.height, image.originX, image.originY,
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resolution.nFrameWidth, resolution.nFrameHeight);
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}
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const bool restored = restoreGuard.RestoreNow();
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if (!normalized || !restored) {
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image.clear();
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return false;
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}
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const uint64_t id = ++m_frameCounter;
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frameId = "VZ_FULL_" + std::to_string(id);
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LOG_INFO("[VizumCamera] Full-frame capture completed and ROI restored: frameId={}, "
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"output={}x{} origin=(0, 0)", frameId, image.width, image.height);
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return true;
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#else
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return false;
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#endif
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}
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bool VizumCamera::CapturePointCloudWithAutoDetect(PointCloud& pointCloud, int timeoutMs)
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{
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LOG_INFO("[VizumCamera] CapturePointCloudWithAutoDetect called, timeoutMs={}", timeoutMs);
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@ -125,9 +125,18 @@ public:
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* @param[out] image 输出图像
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* @return 是否成功
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*/
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bool GetRightImage(SLImage& image);
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/**
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bool GetRightImage(SLImage& image);
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/**
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* @brief 采集全幅左目图像并在返回前恢复原检测 ROI
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* @param[out] image 原点归一到(0,0)的设备全分辨率图像
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* @param[out] frameId 本次采集帧编号
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* @return 采集、全幅归一化及左右检测 ROI 恢复是否全部成功
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* @note 保持当前 CalibROI 状态不变；任何失败路径都会尝试恢复原左右 ROI
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*/
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bool CaptureFullFrameLeftImage(SLImage& image, std::string& frameId);
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/**
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* @brief 启用/禁用矫正 ROI 图像输出(VzNL_EnableCalibROI)
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* @param enable true=启用;启用后 GetLeftImage/GetRightImage 返回 SDK 矫正图
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* @return 是否成功
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@ -132,6 +132,8 @@ struct SLImage {
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uint32_t height = 0;
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int channels = 3;
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int bitDepth = 8;
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int originX = 0; // SDK ROI image top-left in the full sensor frame
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int originY = 0;
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size_t size() const { return data.size(); }
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bool empty() const { return data.empty(); }
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@ -142,6 +144,8 @@ struct SLImage {
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data.shrink_to_fit();
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width = 0;
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height = 0;
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originX = 0;
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originY = 0;
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}
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};
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