fix: restore full-frame roi in raw coordinate mode

src/VizumCamera.cpp

@@ -370,6 +370,11 @@ public:
                       "(error code: {})", SdkErrorText(queryError), queryError);
             return;
         }
+        if (m_previousCalibRoi != VzFalse) {
+            LOG_ERROR("[VizumCamera] Full-frame ROI transaction requires a CalibROI=false "
+                      "point-cloud baseline; refusing cross-coordinate ROI mutation");
+            return;
+        }
 
         // SDK 官方 save_gray_depth_map 示例使用 ROI 输出，并在 CalibROI=false
         // 坐标基准下保存/恢复检测 ROI，再切 CalibROI=true 配置全分辨率 ROI 取图。
@@ -399,12 +404,12 @@ public:
         m_restoreLeftROI = currentLeftROI;
         m_restoreRightROI = currentRightROI;
         m_restoreRoiAvailable = true;
-        const bool sameAcrossCalibModes = SameSdkRoi(currentLeftROI, m_initialLeftROI)
+        const bool baselineRoiMatches = SameSdkRoi(currentLeftROI, m_initialLeftROI)
             && SameSdkRoi(currentRightROI, m_initialRightROI);
         LOG_INFO("[CaptureState] stage=restore_roi_snapshot calib_roi=false "
                  "left=[{}, {}, {}, {}] right=[{}, {}, {}, {}] "
-                 "connection_mode_left=[{}, {}, {}, {}] "
+                 "connection_raw_left=[{}, {}, {}, {}] "
-                 "connection_mode_right=[{}, {}, {}, {}] same_across_calib_modes={}",
+                 "connection_raw_right=[{}, {}, {}, {}] baseline_roi_matches={}",
                  currentLeftROI.left, currentLeftROI.right,
                  currentLeftROI.top, currentLeftROI.bottom,
                  currentRightROI.left, currentRightROI.right,
@@ -413,7 +418,13 @@ public:
                  m_initialLeftROI.top, m_initialLeftROI.bottom,
                  m_initialRightROI.left, m_initialRightROI.right,
                  m_initialRightROI.top, m_initialRightROI.bottom,
-                 sameAcrossCalibModes);
+                 baselineRoiMatches);
+        if (!baselineRoiMatches) {
+            LOG_ERROR("[VizumCamera] Raw DetectROI differs from the connection-time raw "
+                      "point-cloud ROI; refusing full-frame transaction");
+            RestoreNow();
+            return;
+        }
 
         ret = VzNL_EnableCalibROI(m_guardDeviceHandle, VzTrue);
         LogSdkReturn("apply_full_frame_roi", "VzNL_EnableCalibROI(true)", ret);
@@ -478,7 +489,7 @@ public:
 
     bool RestoreNow()
     {
-        if (m_restoreAttempted && m_restoreSucceeded)
+        if (m_restoreAttempted)
             return m_restoreSucceeded;
 
         m_restoreAttempted = true;
@@ -563,9 +574,6 @@ public:
         RestoreNow();
     }
 
-    unsigned int FrameWidth() const { return m_frameWidth; }
-    unsigned int FrameHeight() const { return m_frameHeight; }
-
     FullFrameRoiRestoreGuard(const FullFrameRoiRestoreGuard&) = delete;
     FullFrameRoiRestoreGuard& operator=(const FullFrameRoiRestoreGuard&) = delete;
 
@@ -1565,16 +1573,15 @@ bool VizumCamera::CaptureFullFrameLeftImage(SLImage& image,
     const bool rightReleased = rightImageGuard.ReleaseNow();
     const bool imagesReleased = leftReleased && rightReleased;
 
-    // SDK 官方示例的有效全画幅条件：CalibROI=true 且 DetectROI=设备全分辨率。
+    // GetResolution/DetectROI 使用校正坐标域；GetEyeImage 返回眼图缓冲域。
+    // 现场设备分别为 1336x2115 与 1216x1920，禁止跨坐标域比较尺寸。
     const bool validFullFrame = converted && !image.empty()
-        && image.originX == 0 && image.originY == 0
+        && image.originX == 0 && image.originY == 0;
-        && image.width == fullFrameGuard.FrameWidth()
-        && image.height == fullFrameGuard.FrameHeight();
     if (converted && !validFullFrame) {
-        LOG_ERROR("[VizumCamera] Full-frame SDK image contract failed: "
+        LOG_ERROR("[VizumCamera] Full-frame SDK eye buffer has invalid payload/origin: "
-                  "image={}x{} origin=({}, {}), expected={}x{} origin=(0, 0)",
+                  "image={}x{} origin=({}, {}); calibrated ROI dimensions are not an "
-                  image.width, image.height, image.originX, image.originY,
+                  "eye-buffer size contract",
-                  fullFrameGuard.FrameWidth(), fullFrameGuard.FrameHeight());
+                  image.width, image.height, image.originX, image.originY);
     }
 
     const bool imageModesRestored = fullFrameGuard.RestoreNow();

src/VizumCamera.h

@@ -129,13 +129,14 @@ public:
 
     /**
      * @brief 临时把左右检测 ROI 配置为全幅，采集左目全图后恢复初始 ROI
-     * @param[out] image SDK 返回的矫正全幅左目图（尺寸等于设备分辨率，原点必须为(0,0)）
+     * @param[out] image SDK 返回的全幅左目眼图缓冲（尺寸独立于校正 ROI 分辨率，原点必须为(0,0)）
      * @param[out] frameId 本次采集帧编号
      * @param[in] initialLeftROI 连接时缓存的左目点云 ROI，也是唯一恢复目标
      * @param[in] initialRightROI 连接时缓存的右目点云 ROI，也是唯一恢复目标
      * @param[out] cameraStateRestored 返回前是否确认初始 ROI、CalibROI 和输出模式均已恢复
      * @return 全幅 ROI 配置、采集、SDK 图像释放、初始 ROI 恢复及校验是否全部成功
-     * @note 该事务按 SDK 官方示例调用 ConfigDetectROI；任何失败路径都会尝试恢复初始左右 ROI
+     * @note 初始 ROI 必须在 CalibROI=false 坐标域缓存；事务在校正域配置全幅 ROI，
+     *       返回前在原始域恢复并校验初始左右 ROI
      */
     bool CaptureFullFrameLeftImage(SLImage& image,
                                    std::string& frameId,