fix: capture full image without changing detection ROI
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46f025327b
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d054ea7017
@ -13,6 +13,10 @@
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#include "VZNL_DetectConfig.h"
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#include "VZNL_EyeConfig.h"
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#include "VZNL_SwingMotor.h"
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// The bundled VZNL_Common.h omits this declaration, while the bundled
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// VzNLDetect import library exports the API (newer official headers declare it).
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VZNLAPI void VzNL_SetOutputROIImage(VzBool bOutputROI);
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#endif
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/**
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@ -106,98 +110,92 @@ 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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std::mutex& OutputRoiModeMutex()
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{
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static std::mutex mutex;
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return mutex;
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}
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class OutputRoiModeRestoreGuard
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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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OutputRoiModeRestoreGuard()
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{
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VzNL_SetOutputROIImage(VzFalse);
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LOG_INFO("[VizumCamera] SDK image output switched to full-frame mode; detection ROI unchanged");
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}
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bool RestoreNow()
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void 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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return;
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VzNL_SetOutputROIImage(VzTrue);
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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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LOG_INFO("[VizumCamera] SDK image output restored to configured-ROI mode");
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}
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~DetectRoiRestoreGuard()
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~OutputRoiModeRestoreGuard()
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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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RestoreNow();
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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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OutputRoiModeRestoreGuard(const OutputRoiModeRestoreGuard&) = delete;
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OutputRoiModeRestoreGuard& operator=(const OutputRoiModeRestoreGuard&) = 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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class SdkImageReleaseGuard
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{
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public:
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SdkImageReleaseGuard(SVzNLImageData*& image, const char* label)
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: m_image(image), m_label(label)
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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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bool ReleaseNow()
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{
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if (m_attempted)
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return m_succeeded;
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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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m_attempted = true;
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if (!m_image) {
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m_succeeded = true;
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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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const int ret = VzNL_ReleaseImage(&m_image);
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m_succeeded = ret == 0;
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if (!m_succeeded) {
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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 release {} SDK image: {} (error code: {})",
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m_label, errorMsg, ret);
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}
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return m_succeeded;
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}
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image = std::move(fullImage);
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return true;
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~SdkImageReleaseGuard()
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{
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ReleaseNow();
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}
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SdkImageReleaseGuard(const SdkImageReleaseGuard&) = delete;
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SdkImageReleaseGuard& operator=(const SdkImageReleaseGuard&) = delete;
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private:
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SVzNLImageData*& m_image;
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const char* m_label = nullptr;
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bool m_attempted = false;
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bool m_succeeded = false;
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};
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bool SameSdkRoi(const SVzNLROIRect& lhs, const SVzNLROIRect& rhs)
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{
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return lhs.left == rhs.left && lhs.right == rhs.right
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&& lhs.top == rhs.top && lhs.bottom == rhs.bottom;
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}
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const char* DeviceStatusName(int status)
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@ -686,9 +684,14 @@ bool VizumCamera::Connect(const std::string& ipAddress)
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LOG_INFO("[VizumCamera] Device status callback registered; scan completion events: "
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"Device_Auto_Stop or Device_Swing_Finish");
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// OpenDevice 之后立即设置图像输出格式（在此之前设置对本次连接无效）
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// 输出格式和 ROI 图开关均为 SDK 全局状态，和所有 GetEyeImage 调用共用同一把锁。
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{
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const std::lock_guard<std::mutex> outputModeLock(OutputRoiModeMutex());
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VzNL_SetOutputImageFormat(keVzNLImageType_BGR888);
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LOG_INFO("[VizumCamera] Output image format set to BGR888");
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VzNL_SetOutputROIImage(VzTrue);
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LOG_INFO("[VizumCamera] SDK image output initialized to configured-ROI mode");
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}
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// 更新设备信息
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if (!UpdateDeviceInfo()) {
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@ -850,6 +853,9 @@ bool VizumCamera::CaptureAndCacheData(CaptureType captureType)
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{
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LOG_INFO("[VizumCamera] CaptureAndCacheData called, captureType={}", static_cast<int>(captureType));
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#ifdef ENABLE_VIZUM_CAMERA
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std::unique_lock<std::mutex> outputModeLock(OutputRoiModeMutex(), std::defer_lock);
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if (captureType & CaptureType::Image)
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outputModeLock.lock();
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const std::lock_guard<std::mutex> deviceLock(m_deviceAccessMutex);
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if (!m_deviceHandle) {
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LOG_ERROR("[VizumCamera] CaptureAndCacheData failed: Device handle is null");
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@ -872,6 +878,8 @@ bool VizumCamera::CaptureAndCacheData(CaptureType captureType)
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SVzNLImageData* pLeftImage = nullptr;
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SVzNLImageData* pRightImage = nullptr;
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// 每次普通取图都显式自愈到配置 ROI 输出，避免继承异常退出留下的全图模式。
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VzNL_SetOutputROIImage(VzTrue);
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int result = VzNL_GetEyeImage(m_deviceHandle, &pLeftImage, &pRightImage, 3000);
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if (result == 0) {
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if (pLeftImage) {
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@ -889,6 +897,10 @@ bool VizumCamera::CaptureAndCacheData(CaptureType captureType)
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}
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}
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// 图像读取结束即可释放 SDK 全局输出锁；点云扫描只保留设备锁。
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if (outputModeLock.owns_lock())
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outputModeLock.unlock();
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// 采集点云（通过激光扫描）
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// 按照 VZNLCameraAdapter::scan 的逻辑，使用自动检测模式采集
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if (captureType & CaptureType::PointCloud) {
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@ -965,6 +977,7 @@ bool VizumCamera::CaptureFullFrameLeftImage(SLImage& image, std::string& frameId
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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> outputModeLock(OutputRoiModeMutex());
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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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@ -993,24 +1006,12 @@ bool VizumCamera::CaptureFullFrameLeftImage(SLImage& image, std::string& frameId
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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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OutputRoiModeRestoreGuard outputModeGuard;
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SVzNLImageData* leftImage = nullptr;
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SVzNLImageData* rightImage = nullptr;
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SdkImageReleaseGuard leftImageGuard(leftImage, "left");
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SdkImageReleaseGuard rightImageGuard(rightImage, "right");
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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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@ -1024,29 +1025,62 @@ bool VizumCamera::CaptureFullFrameLeftImage(SLImage& image, std::string& frameId
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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 leftReleased = leftImageGuard.ReleaseNow();
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const bool rightReleased = rightImageGuard.ReleaseNow();
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const bool imagesReleased = leftReleased && rightReleased;
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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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const bool exactFullFrame = converted
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&& image.originX == 0 && image.originY == 0
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&& image.width == resolution.nFrameWidth
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&& image.height == resolution.nFrameHeight;
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if (converted && !exactFullFrame) {
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LOG_ERROR("[VizumCamera] SDK output-mode switch did not return an exact full frame; "
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"capture rejected without zero-padding: image={}x{} origin=({}, {}), "
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"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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outputModeGuard.RestoreNow();
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SVzNLROIRect currentLeftROI{};
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SVzNLROIRect currentRightROI{};
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ret = VzNL_GetConfigDetectROI(m_deviceHandle, ¤tLeftROI, ¤tRightROI);
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const bool roiUnchanged = ret == 0
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&& SameSdkRoi(currentLeftROI, oldLeftROI)
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&& SameSdkRoi(currentRightROI, 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] Failed to query detection ROI after full-frame capture: {} "
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"(error code: {})", errorMsg, ret);
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} else if (!roiUnchanged) {
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LOG_ERROR("[VizumCamera] Detection ROI changed during output-only full-frame capture; "
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"before left=[{}, {}, {}, {}], right=[{}, {}, {}, {}]; "
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"after left=[{}, {}, {}, {}], right=[{}, {}, {}, {}]",
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oldLeftROI.left, oldLeftROI.right, oldLeftROI.top, oldLeftROI.bottom,
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oldRightROI.left, oldRightROI.right, oldRightROI.top, oldRightROI.bottom,
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currentLeftROI.left, currentLeftROI.right,
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currentLeftROI.top, currentLeftROI.bottom,
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currentRightROI.left, currentRightROI.right,
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currentRightROI.top, currentRightROI.bottom);
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} else {
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LOG_INFO("[VizumCamera] Detection ROI verified unchanged after full-frame capture: "
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"left=[{}, {}, {}, {}], right=[{}, {}, {}, {}]",
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currentLeftROI.left, currentLeftROI.right,
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currentLeftROI.top, currentLeftROI.bottom,
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currentRightROI.left, currentRightROI.right,
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currentRightROI.top, currentRightROI.bottom);
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}
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if (!exactFullFrame || !imagesReleased || !roiUnchanged) {
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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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LOG_INFO("[VizumCamera] Full-frame capture completed without writing detection ROI: 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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@ -128,11 +128,11 @@ public:
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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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* @brief 不修改检测 ROI，仅切换 SDK 输出模式采集全幅左目图像
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* @param[out] image SDK 原始返回的设备全分辨率图像（原点必须为(0,0)）
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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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* @return 采集、SDK 图像释放、精确全幅校验、输出模式恢复及检测 ROI 未变化校验是否全部成功
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* @note 保持当前 CalibROI 和检测 ROI 不变；任何失败路径都会恢复 ROI 图输出模式
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*/
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bool CaptureFullFrameLeftImage(SLImage& image, std::string& frameId);
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