CVPixelBufferRef <-> image

- (CVPixelBufferRef) pixelBufferFromCGImage: (CGImageRef) image
{
    NSDictionary *options = @{
                              (NSString*)kCVPixelBufferCGImageCompatibilityKey : @YES,
                              (NSString*)kCVPixelBufferCGBitmapContextCompatibilityKey : @YES,
                              (NSString*)kCVPixelBufferIOSurfacePropertiesKey: [NSDictionary dictionary]
                              };
    CVPixelBufferRef pxbuffer = NULL;
    
    CGFloat frameWidth = CGImageGetWidth(image);
    CGFloat frameHeight = CGImageGetHeight(image);
    
    CVReturn status = CVPixelBufferCreate(kCFAllocatorDefault,
                                          frameWidth,
                                          frameHeight,
                                          kCVPixelFormatType_32BGRA,
                                          (__bridge CFDictionaryRef) options,
                                          &pxbuffer);
    
    NSParameterAssert(status == kCVReturnSuccess && pxbuffer != NULL);
    
    CVPixelBufferLockBaseAddress(pxbuffer, 0);
    void *pxdata = CVPixelBufferGetBaseAddress(pxbuffer);
    NSParameterAssert(pxdata != NULL);
    
    CGColorSpaceRef rgbColorSpace = CGColorSpaceCreateDeviceRGB();
    
    CGContextRef context = CGBitmapContextCreate(pxdata,
                                                 frameWidth,
                                                 frameHeight,
                                                 8,
                                                 CVPixelBufferGetBytesPerRow(pxbuffer),
                                                 rgbColorSpace,
                                                 (CGBitmapInfo)kCGImageAlphaNoneSkipFirst);
    NSParameterAssert(context);
    CGContextConcatCTM(context, CGAffineTransformIdentity);
    CGContextDrawImage(context, CGRectMake(0,
                                           0,
                                           frameWidth,
                                           frameHeight),
                       image);
    CGColorSpaceRelease(rgbColorSpace);
    CGContextRelease(context);
    
    CVPixelBufferUnlockBaseAddress(pxbuffer, 0);
    
    return pxbuffer;



 

- (UIImage *)imageFromPixelBuffer:(CVPixelBufferRef)pixelBufferRef {
    CVImageBufferRef imageBuffer =  pixelBufferRef;
    
    CVPixelBufferLockBaseAddress(imageBuffer, 0);
    void *baseAddress = CVPixelBufferGetBaseAddress(imageBuffer);
    size_t width = CVPixelBufferGetWidth(imageBuffer);
    size_t height = CVPixelBufferGetHeight(imageBuffer);
    size_t bufferSize = CVPixelBufferGetDataSize(imageBuffer);
    size_t bytesPerRow = CVPixelBufferGetBytesPerRowOfPlane(imageBuffer, 0);
    
    CGColorSpaceRef rgbColorSpace = CGColorSpaceCreateDeviceRGB();
    CGDataProviderRef provider = CGDataProviderCreateWithData(NULL, baseAddress, bufferSize, NULL);
    
    CGImageRef cgImage = CGImageCreate(width, height, 8, 32, bytesPerRow, rgbColorSpace, kCGImageAlphaNoneSkipFirst | kCGBitmapByteOrderDefault, provider, NULL, true, kCGRenderingIntentDefault);
    
    
    UIImage *image = [UIImage imageWithCGImage:cgImage];
    
    CGImageRelease(cgImage);
    CGDataProviderRelease(provider);
    CGColorSpaceRelease(rgbColorSpace);
    
//    NSData* imageData = UIImageJPEGRepresentation(image, 1.0);
//    image = [UIImage imageWithData:imageData];
    CVPixelBufferUnlockBaseAddress(imageBuffer, 0);
    return image;
}

 

转载于:https://my.oschina.net/zhaodacai/blog/859886

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分析这段代码的作用,逐句注释:<launch> <!-- set to value="gdbserver localhost:10000" for remote debugging --> <arg name="launch_prefix" default="" /> <!-- configure camera input --> <arg name="camera_name" default="mynteye" /> <arg name="image_topic" default="image_rect" /> <arg name="queue_size" default="1" /> <arg name="svo_file" default="" /> <!-- <arg name="svo_file" default="path/to/svo/file.svo"> --> <arg name="stream" default="" /> <!-- <arg name="stream" default="<ip_address>:<port>"> --> <!-- 相机名称 --> <arg name="camera_model" default="mynteye" /> <!-- 已经启动了所有的mynteye节点 --> <include file="$(find mynteye_wrapper_d)/launch/mynteye.launch"/> <!-- <node pkg="apriltag_ros" type="undersort_image_node" output="screen"> --> <node name="rviz" pkg="rviz" type="rviz" args="-d $(find mynteye_wrapper_d)/rviz/mynteye_withTags.rviz" output="screen"/> <!-- apriltag_ros continuous detection node --> <node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="apriltag_ros_continuous_node" clear_params="true" output="screen" launch-prefix="$(arg launch_prefix)"> <!-- Remap topics from those used in code to those on the ROS network --> <!-- 相机节点 --> <remap from="image_rect" to="/undistorted_image"/> <!-- <remap from="image_rect" to="//mynteye/left/image_color"/> --> <remap from="camera_info" to="/mynteye/left/camera_info" /> <param name="publish_tag_detections_image" type="bool" value="true" /><!-- default: false --> <param name="queue_size" type="int" value="$(arg queue_size)" /> <!-- load parameters (incl. tag family, tags, etc.) --> <rosparam command="load" file="$(find apriltag_ros)/config/settings.yaml"/> <rosparam command="load" file="$(find apriltag_ros)/config/tags.yaml"/> </node> </launch>
06-07
这段代码是一个ROS launch文件,主要用于配置启动apriltag_ros相机节点和apriltag_ros_continuous_node节点,以实现对apriltag的连续检测。逐句注释如下: ```xml <launch> ``` ROS launch文件的起始标签。 ```xml <!-- set to value="gdbserver localhost:10000" for remote debugging --> <arg name="launch_prefix" default="" /> ``` 定义一个参数launch_prefix,用于设置调试参数为gdbserver localhost:10000。 ```xml <!-- configure camera input --> <arg name="camera_name" default="mynteye" /> <arg name="image_topic" default="image_rect" /> <arg name="queue_size" default="1" /> <arg name="svo_file" default="" /> <!-- <arg name="svo_file" default="path/to/svo/file.svo"> --> <arg name="stream" default="" /> <!-- <arg name="stream" default="<ip_address>:<port>"> --> ``` 定义相机输入的一些参数,包括相机名称、图像话题、消息队列大小、svo文件和流地址。 ```xml <!-- 相机名称 --> <arg name="camera_model" default="mynteye" /> ``` 定义相机模型为mynteye。 ```xml <!-- 已经启动了所有的mynteye节点 --> <include file="$(find mynteye_wrapper_d)/launch/mynteye.launch"/> ``` 引用已经启动的mynteye节点。 ```xml <!-- <node pkg="apriltag_ros" type="undersort_image_node" output="screen"> --> ``` 注释掉的代码,表示启动apriltag_ros的undersort_image_node节点,未使用。 ```xml <node name="rviz" pkg="rviz" type="rviz" args="-d $(find mynteye_wrapper_d)/rviz/mynteye_withTags.rviz" output="screen"/> ``` 启动rviz,加载mynteye_withTags.rviz配置文件,并将输出显示在屏幕上。 ```xml <!-- apriltag_ros continuous detection node --> <node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="apriltag_ros_continuous_node" clear_params="true" output="screen" launch-prefix="$(arg launch_prefix)"> ``` 启动apriltag_ros的apriltag_ros_continuous_node节点,并设置其名称为apriltag_ros_continuous_node。同时,设置clear_params参数为true,表示清除之前的节点参数。将节点的输出显示在屏幕上,并设置调试参数为launch_prefix。 ```xml <!-- Remap topics from those used in code to those on the ROS network --> <!-- 相机节点 --> <remap from="image_rect" to="/undistorted_image"/> <!-- <remap from="image_rect" to="//mynteye/left/image_color"/> --> <remap from="camera_info" to="/mynteye/left/camera_info" /> ``` 重新映射图像和相机信息话题的名称,以适应ROS网络的标准命名。 ```xml <param name="publish_tag_detections_image" type="bool" value="true" /><!-- default: false --> <param name="queue_size" type="int" value="$(arg queue_size)" /> ``` 设置节点的参数,包括是否发布检测到的apriltag图像、消息队列大小等。 ```xml <!-- load parameters (incl. tag family, tags, etc.) --> <rosparam command="load" file="$(find apriltag_ros)/config/settings.yaml"/> <rosparam command="load" file="$(find apriltag_ros)/config/tags.yaml"/> ``` 加载节点参数,包括tag family、tag等,从而实现apriltag的连续检测。

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