From ee4a6625eb539b7e67924301339d1d0eb160cdca Mon Sep 17 00:00:00 2001
From: Ben <987807597@qq.com>
Date: Wed, 26 Aug 2026 09:59:14 +0800
Subject: [PATCH] feat: expose read-only detection ROI

---
 src/VizumCamera.cpp | 37 ++++++++++++++++++++++++++++++++++++-
 src/VizumCamera.h   | 15 +++++++++++++++
 2 files changed, 51 insertions(+), 1 deletion(-)

diff --git a/src/VizumCamera.cpp b/src/VizumCamera.cpp
index 23f79c0..cd0fce1 100755
--- a/src/VizumCamera.cpp
+++ b/src/VizumCamera.cpp
@@ -1624,10 +1624,45 @@ bool VizumCamera::SetConfig(const std::string& configJson)
     return false;
 }
 
+bool VizumCamera::GetDetectROI(ROIRect& leftROI, ROIRect& rightROI)
+{
+#ifdef ENABLE_VIZUM_CAMERA
+    const std::lock_guard<std::mutex> deviceLock(m_deviceAccessMutex);
+    if (!m_isConnected || !m_deviceHandle) {
+        LOG_WARN("[VizumCamera] GetDetectROI failed: device not connected");
+        return false;
+    }
+
+    SVzNLROIRect sdkLeft{};
+    SVzNLROIRect sdkRight{};
+    const int ret = VzNL_GetConfigDetectROI(m_deviceHandle, &sdkLeft, &sdkRight);
+    if (ret != 0) {
+        char errorMsg[256] = {0};
+        VzNL_GetErrorInfo(ret, errorMsg);
+        LOG_ERROR("[VizumCamera] VzNL_GetConfigDetectROI failed: {} (error code: {})",
+                  errorMsg, ret);
+        return false;
+    }
+
+    leftROI = {sdkLeft.left, sdkLeft.right, sdkLeft.top, sdkLeft.bottom};
+    rightROI = {sdkRight.left, sdkRight.right, sdkRight.top, sdkRight.bottom};
+    LOG_INFO("[VizumCamera] Detect ROI read only: left=[{}, {}, {}, {}], "
+             "right=[{}, {}, {}, {}]",
+             leftROI.left, leftROI.right, leftROI.top, leftROI.bottom,
+             rightROI.left, rightROI.right, rightROI.top, rightROI.bottom);
+    return true;
+#else
+    (void)leftROI;
+    (void)rightROI;
+    return false;
+#endif
+}
+
 bool VizumCamera::SetCalibROIEnabled(bool enable)
 {
 #ifdef ENABLE_VIZUM_CAMERA
-    if (!m_deviceHandle) {
+    const std::lock_guard<std::mutex> deviceLock(m_deviceAccessMutex);
+    if (!m_isConnected || !m_deviceHandle) {
         LOG_WARN("[VizumCamera] SetCalibROIEnabled({}) failed: device not connected", enable);
         return false;
     }
diff --git a/src/VizumCamera.h b/src/VizumCamera.h
index 1b62351..93f8a0e 100755
--- a/src/VizumCamera.h
+++ b/src/VizumCamera.h
@@ -14,6 +14,13 @@
 
 namespace StructuredLight {
 
+struct ROIRect {
+    int left = 0;
+    int right = 0;
+    int top = 0;
+    int bottom = 0;
+};
+
 /**
  * @brief 伟景智能 Vizum 结构光相机实现类
  */
@@ -128,6 +135,14 @@ public:
      */
     bool SetCalibROIEnabled(bool enable);
 
+    /**
+     * @brief 读取当前左右目检测 ROI，不修改相机配置
+     * @param[out] leftROI 左目检测 ROI（全幅图坐标）
+     * @param[out] rightROI 右目检测 ROI（全幅图坐标）
+     * @return 是否成功
+     */
+    bool GetDetectROI(ROIRect& leftROI, ROIRect& rightROI);
+
     /**
      * @brief 启动自动检测模式进行摆镜扫描采集点云
      * @param[out] pointCloud 输出点云