Apollo 7.0自动驾驶开发笔记48——apollo获取裁剪图像并使用openv显示

    data_provider_image_option_.crop_roi = light->region.detection_roi;
    
    data_provider_image_option_.do_crop = true;
    
    frame->data_provider->GetImage(data_provider_image_option_,
    image_.get());
    
    
    
    
    cv::Mat class_img;
    
    class_img =
    
    cv::Mat(light->region.detection_roi.height,
    
    light->region.detection_roi.width,
    CV_8UC3, cv::Scalar(0,
    0, 0));
    
    
    
    
    uchar* image_data = class_img.data;
    
    const auto* source_data =
    image_->cpu_data();
    
    
    
    
    // 计算裁剪区域的起始像素位置
    
    const unsigned char* pixel_ptr
    = source_data;
    
    
    
    
    // 遍历裁剪区域内的每个像素
    
    for (int row = 0;
    row < light->region.detection_roi.height;
    row++) {
    
    for (int col = 0;
    col < light->region.detection_roi.width;
    col++) {
    
    // 使用指针偏移访问当前像素的通道值
    
    unsigned char red = pixel_ptr[0];
    
    unsigned char green = pixel_ptr[1];
    
    unsigned char blue = pixel_ptr[2];
    
    
    
    
    // 在这里可以对裁剪区域内的像素进行处理，或者将其复制到新的图像数据中
    
    // ...
    
    
    
    
    // 将裁剪后的像素数据复制到新的数组或指针中
    
    unsigned char* cropped_pixel_ptr =
    
    image_data + (row * light->region.detection_roi.width
    + col) * 3;
    
    cropped_pixel_ptr[0] = blue;
    
    cropped_pixel_ptr[1] = green;
    
    cropped_pixel_ptr[2] = red;
    
    
    
    
    // 将指针偏移到下一个像素位置
    
    pixel_ptr += 3;
    
    }
    
    // 将指针偏移到下一行的起始像素位置
    
    pixel_ptr += (3840 - light->region.detection_roi.width)
    * 3;
    
    }
    
    
    
    
    cv::circle(class_img, cv::Point2d(5,
    5), 1, cv::Scalar(0,
    0, 255), 5);
    
    
    
    
    std::string windows_name_string =
    "class_img";
    
    const char* window_name =
    windows_name_string.c_str();
    
    cv::namedWindow(window_name, 0);
    
    cv::imshow(window_name, class_img);
    
    cv::imwrite("/mnt/movex/class_input_image.jpg",
    class_img);
    
    cv::waitKey(100);
    
    
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
    
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