diff --git a/src/VizumCamera.cpp b/src/VizumCamera.cpp
index f079ee6..4676f06 100755
--- a/src/VizumCamera.cpp
+++ b/src/VizumCamera.cpp
@@ -119,20 +119,74 @@ std::mutex& OutputRoiModeMutex()
 class OutputRoiModeRestoreGuard
 {
 public:
-    OutputRoiModeRestoreGuard()
+    explicit OutputRoiModeRestoreGuard(VZNLHANDLE deviceHandle)
+        : m_guardDeviceHandle(deviceHandle)
     {
+        int queryError = 0;
+        m_previousCalibRoi = VzNL_IsEnableCalibROI(m_guardDeviceHandle, &queryError);
+        if (queryError != 0) {
+            char errorMsg[256] = {0};
+            VzNL_GetErrorInfo(queryError, errorMsg);
+            LOG_ERROR("[VizumCamera] Cannot query CalibROI before full-frame capture: {} "
+                      "(error code: {})", errorMsg, queryError);
+            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 true full-frame pixels: {} "
+                          "(error code: {})", errorMsg, ret);
+                return;
+            }
+            m_calibRoiChanged = true;
+        }
+
         VzNL_SetOutputROIImage(VzFalse);
-        LOG_INFO("[VizumCamera] SDK image output switched to full-frame mode; detection ROI unchanged");
+        m_outputModeChanged = true;
+        m_ready = true;
+        LOG_INFO("[VizumCamera] Full-frame 2D mode applied: CalibROI=false, "
+                 "OutputROI=false; configured detection ROI and point-cloud ROI unchanged");
     }
 
-    void RestoreNow()
+    bool IsReady() const
     {
-        if (m_restored)
-            return;
+        return m_ready;
+    }
 
-        VzNL_SetOutputROIImage(VzTrue);
-        m_restored = true;
-        LOG_INFO("[VizumCamera] SDK image output restored to configured-ROI mode");
+    bool RestoreNow()
+    {
+        if (m_restoreAttempted)
+            return m_restoreSucceeded;
+
+        m_restoreAttempted = true;
+        if (!m_outputModeChanged && !m_calibRoiChanged) {
+            m_restoreSucceeded = true;
+            return true;
+        }
+
+        if (m_outputModeChanged)
+            VzNL_SetOutputROIImage(VzTrue);
+
+        m_restoreSucceeded = true;
+        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;
+            }
+        }
+
+        if (m_restoreSucceeded) {
+            LOG_INFO("[VizumCamera] ROI detection image mode restored: CalibROI={}, "
+                     "OutputROI=true", m_previousCalibRoi == VzTrue);
+        }
+        return m_restoreSucceeded;
     }
 
     ~OutputRoiModeRestoreGuard()
@@ -144,7 +198,13 @@ public:
     OutputRoiModeRestoreGuard& operator=(const OutputRoiModeRestoreGuard&) = delete;
 
 private:
-    bool m_restored = false;
+    VZNLHANDLE m_guardDeviceHandle = nullptr;
+    VzBool m_previousCalibRoi = VzFalse;
+    bool m_calibRoiChanged = false;
+    bool m_outputModeChanged = false;
+    bool m_ready = false;
+    bool m_restoreAttempted = false;
+    bool m_restoreSucceeded = false;
 };
 
 class SdkImageReleaseGuard
@@ -1006,7 +1066,9 @@ bool VizumCamera::CaptureFullFrameLeftImage(SLImage& image, std::string& frameId
         return false;
     }
 
-    OutputRoiModeRestoreGuard outputModeGuard;
+    OutputRoiModeRestoreGuard outputModeGuard(m_deviceHandle);
+    if (!outputModeGuard.IsReady())
+        return false;
 
     SVzNLImageData* leftImage = nullptr;
     SVzNLImageData* rightImage = nullptr;
@@ -1041,7 +1103,7 @@ bool VizumCamera::CaptureFullFrameLeftImage(SLImage& image, std::string& frameId
                   resolution.nFrameWidth, resolution.nFrameHeight);
     }
 
-    outputModeGuard.RestoreNow();
+    const bool imageModesRestored = outputModeGuard.RestoreNow();
 
     SVzNLROIRect currentLeftROI{};
     SVzNLROIRect currentRightROI{};
@@ -1073,15 +1135,16 @@ bool VizumCamera::CaptureFullFrameLeftImage(SLImage& image, std::string& frameId
                  currentRightROI.top, currentRightROI.bottom);
     }
 
-    if (!exactFullFrame || !imagesReleased || !roiUnchanged) {
+    if (!exactFullFrame || !imagesReleased || !imageModesRestored || !roiUnchanged) {
         image.clear();
         return false;
     }
 
     const uint64_t id = ++m_frameCounter;
     frameId = "VZ_FULL_" + std::to_string(id);
-    LOG_INFO("[VizumCamera] Full-frame capture completed without writing detection ROI: frameId={}, "
-             "output={}x{} origin=(0, 0)", frameId, image.width, image.height);
+    LOG_INFO("[VizumCamera] True full-frame 2D capture completed without writing detection ROI: "
+             "frameId={}, output={}x{} origin=(0, 0), CalibROI restored",
+             frameId, image.width, image.height);
     return true;
 #else
     return false;
diff --git a/src/VizumCamera.h b/src/VizumCamera.h
index 90c45ee..e36eecc 100755
--- a/src/VizumCamera.h
+++ b/src/VizumCamera.h
@@ -128,11 +128,11 @@ public:
     bool GetRightImage(SLImage& image);
 
     /**
-     * @brief 不修改检测 ROI，仅切换 SDK 输出模式采集全幅左目图像
+     * @brief 不修改检测 ROI，临时关闭 CalibROI/ROI输出并采集真实全幅左目图像
      * @param[out] image SDK 原始返回的设备全分辨率图像（原点必须为(0,0)）
      * @param[out] frameId 本次采集帧编号
-     * @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
-     * @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
+     * @return 采集、SDK 图像释放、精确全幅校验、模式恢复及检测 ROI 未变化校验是否全部成功
+     * @note 检测 ROI 始终只读；任何失败路径都会恢复原 CalibROI 和 ROI 图输出模式
      */
     bool CaptureFullFrameLeftImage(SLImage& image, std::string& frameId);