如下：

ViewCompat.setOnApplyWindowInsetsListener(window.decorView, object :androidx.core.view.OnApplyWindowInsetsListener {
                override fun onApplyWindowInsets(
                    v: View,
                    insets: WindowInsetsCompat
                ): WindowInsetsCompat {
                    // 获取导航栏高度
                    val navigationHeight = if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.R) {
                        val navigationBars: androidx.core.graphics.Insets =
                            insets.getInsetsIgnoringVisibility(WindowInsetsCompat.Type.navigationBars())
                        navigationBars.bottom
                    } else {
                        insets.stableInsetBottom
                    }
                    // 注意这个返回值，返回对象写的不对可能造成诸如导航栏颜色设置不生效等问题
                    return ViewCompat.onApplyWindowInsets(v, insets)
                }
            })

解注册：

ViewCompat.setOnApplyWindowInsetsListener(window.decorView, null)

注意：根据源码内容，每个View只能设置一个OnApplyWindowInsetsListener