使用 Android NDK 获取 YUV420p摄像头原始数据

何玲 · 3 天前

使用 Android NDK 获取 YUV420p摄像头原始数据

首先frameworks/av/camera/Camera.cpp已经过时了不要再使用它了, 当然想要更换旧的Camera的成本也不小,一般公司也不会做.
先介绍一一些常见的数据格式,然后介绍一下使用方式即可,然后下篇文件在探索一下源码.
脉络大概如下:
CameraManager → CameraService → Camera HAL v3 → Sensor/Driver.
常见的视频原始数据格式

本质上视频就是一张一张的图片,利用人眼视觉暂留的原理,24帧率的时候人眼就会无法辨别出单幅的静态画面.
编码就是利用算法算出每张图片之间的关系然后进行压缩.
解码就是一个逆向的过程,将压缩后的数据利用逆向算法恢复成一张一张的图片,然后播放.
yuv420p

最常见得
这个是最常见的.举个例子:
4x2像素的图片存储格式如下:
首先Y分量和像素一样,如下:
YYYY
YYYY
接着是U分量,4个Y分量共用一个U分量.
UU
接着是V分量,同理
VV
最终在内存中如下:

YYYY
YYYY
UU
VV

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5x3像素的图片存储格式如下:
首先Y分量和像素一样,如下:

YYYYYY
YYYY
UU
VV

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他们一共在内存中占用15 + 2 + 2 = 19字节.
YU12

YYYYYYYYYYYYYYYYYYYYYYYYYYYY
YYYY
UU
VVUUVV

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YU21

YYYY
YYYY
YYYY
YYYY
YYYY
YYYY
YYYY
YYYY
VV
UU
VV
UU

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yuv420sp

它和yuv420p得区别在于前者UV是顺序存储,后者是交替存储.
yuv420sp分为NV12和NV21
NV12
4x8

YYYY
YYYY
YYYY
YYYY
YYYY
YYYY
YYYY
YYYY
UV
UV
UV
UV

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NV21
4x8

YYYY
YYYY
YYYY
YYYY
YYYY
YYYY
YYYY
YYYY
VU
VU
VU
VU

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源码封装

cmake

# For more information about using CMake with Android Studio, read the
# documentation: https://d.android.com/studio/projects/add-native-code.html.
# For more examples on how to use CMake, see https://github.com/android/ndk-samples.
# Sets the minimum CMake version required for this project.
cmake_minimum_required(VERSION 3.22.1)
# Declares the project name. The project name can be accessed via ${ PROJECT_NAME},
# Since this is the top level CMakeLists.txt, the project name is also accessible
# with ${CMAKE_PROJECT_NAME} (both CMake variables are in-sync within the top level
# build script scope).
project(openslLearn VERSION 0.1.0 LANGUAGES C CXX)
# ✅ 设置 C++ 标准
set(CMAKE_CXX_STANDARD 23) # 使用 C++26 标准
set(CMAKE_CXX_STANDARD_REQUIRED ON) # 强制使用指定标准
set(CMAKE_CXX_EXTENSIONS OFF) # 禁用编译器扩展（使用纯标准）
# Creates and names a library, sets it as either STATIC
# or SHARED, and provides the relative paths to its source code.
# You can define multiple libraries, and CMake builds them for you.
# Gradle automatically packages shared libraries with your APK.
#
# In this top level CMakeLists.txt, ${CMAKE_PROJECT_NAME} is used to define
# the target library name; in the sub-module's CMakeLists.txt, ${PROJECT_NAME}
# is preferred for the same purpose.
#
# In order to load a library into your app from Java/Kotlin, you must call
# System.loadLibrary() and pass the name of the library defined here;
# for GameActivity/NativeActivity derived applications, the same library name must be
# used in the AndroidManifest.xml file.
# 第一个库
# 查找源文件
file(GLOB_RECURSE LEARN01_SOURCES CONFIGURE_DEPENDS
"src/learn01/*.cpp"
"src/learn01/*.c"
)
add_library(${CMAKE_PROJECT_NAME} SHARED ${LEARN01_SOURCES})
# 设置头文件包含路径
target_include_directories(${CMAKE_PROJECT_NAME}
PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include/learn01
PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include/logging
)
# Specifies libraries CMake should link to your target library. You
# can link libraries from various origins, such as libraries defined in this
# build script, prebuilt third-party libraries, or Android system libraries.
target_link_libraries(${CMAKE_PROJECT_NAME}
# List libraries link to the target library
android
log
OpenSLES
)
# 新增第二个库 (openslLearn2)
file(GLOB_RECURSE LEARN02_SOURCES CONFIGURE_DEPENDS
"src/learn02/*.cpp"
"src/learn02/*.c"
"src/sqlite/*.cpp"
"src/sqlite/*.c"
)
set(LIBRARY_NAME2 ${CMAKE_PROJECT_NAME}2)
message("LIBRARY_NAME2: ${LIBRARY_NAME2}")
add_library(${LIBRARY_NAME2} SHARED ${LEARN02_SOURCES}) # 使用不同源文件
target_include_directories(${LIBRARY_NAME2}
PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include/sqlite
PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include/learn02
PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include/logging
)
find_package (oboe REQUIRED CONFIG)
target_link_libraries(${LIBRARY_NAME2}
android
log
aaudio
oboe::oboe
camera2ndk
mediandk
)

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头文件

//
// Created by 29051 on 2025/10/25.
//
#ifndef OPENSL_LEARN_CAMERA_HPP
#define OPENSL_LEARN_CAMERA_HPP
extern "C" {
#include <camera/NdkCameraManager.h>
#include <media/NdkImageReader.h>
}
#include <string>
#include <fstream>
#include "logging.hpp"
class NDKCamera {
private:
int mWidth;
int wHeight;
ACameraManager *aCameraManager = nullptr;
ACameraDevice *device = nullptr;
ACameraCaptureSession *session = nullptr;
AImageReader *aImageReader = nullptr;
ACaptureSessionOutputContainer *aCaptureSessionOutputContainer = nullptr;
ACaptureSessionOutput *sessionOutput = nullptr;
std::string yuvPath;
std::ofstream *yuvStream = nullptr;
public:
NDKCamera(int width, int height, std::string yuvPath);
~NDKCamera();
/**
* Capabilities 功能
*/
void printCameraCapabilities(const char * cameraId);
};
#endif //OPENSL_LEARN_CAMERA_HPP

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源文件

//
// Created by 29051 on 2025/10/25.
//
#include "NDKCamera.hpp"
#include <utility>
const char * const TAG = "NDKCamera";
/**
* CameraManager → CameraService → Camera HAL v3 → Sensor/Driver
* @param width
* @param height
*/
NDKCamera::NDKCamera(int width, int height, std::string yuvPath) : mWidth(width), wHeight(height), yuvPath(std::move(yuvPath)) {
logger::info(TAG, "width: %d, height: %d, yuvPath: %s", this -> mWidth, this -> wHeight, this -> yuvPath.c_str());
this->yuvStream = new std::ofstream(this->yuvPath, std::ios::binary);
if (!this->yuvStream->is_open()){
logger::error(TAG, "文件打开失败...");
return;
}
aCameraManager = ACameraManager_create();
if (aCameraManager == nullptr){
logger::error(TAG, "aCameraManager is null");
return;
}
ACameraIdList *cameraIdList = nullptr;
camera_status_t status = ACameraManager_getCameraIdList(aCameraManager, &cameraIdList);
if (status != ACAMERA_OK){
logger::error(TAG, "开启 getCameraIdList 失败");
return;
}
if (cameraIdList->numCameras <= 0){
logger::error(TAG, "此设备没有摄像头");
return;
}
for(int i = 0; i < cameraIdList->numCameras; i ++ ){
logger::info(TAG, "index: %d, cameraId: %s", i, cameraIdList->cameraIds[i]);
}
const char* cameraId = cameraIdList->cameraIds[1];
this->printCameraCapabilities(cameraId);
ACameraDevice_StateCallbacks deviceStateCallbacks = {
.context = nullptr,
.onDisconnected = [](void*, ACameraDevice* aCameraDevice) -> void {},
.onError = [](void*, ACameraDevice* aCameraDevice, int errorCode) -> void {},
};
status = ACameraManager_openCamera(aCameraManager, cameraId, &deviceStateCallbacks, &device);
if (status != ACAMERA_OK){
logger::error(TAG, "开启 camera 失败");
return;
}
media_status_t mediaStatus = AImageReader_new(width, height, AIMAGE_FORMAT_YUV_420_888, 4, &aImageReader);
if (mediaStatus != AMEDIA_OK){
logger::error(TAG, "AImageReader_new 失败");
return;
}
AImageReader_ImageListener imageListener = {
.context = this,
.onImageAvailable = [](void* context, AImageReader* reader) -> void {
AImage *image = nullptr;
media_status_t mediaStatus = AImageReader_acquireNextImage(reader, &image);
if (mediaStatus != AMEDIA_OK || image == nullptr){
logger::error(TAG, "获取当前yuv帧失败");
AImage_delete(image);
return;
}
int32_t width = 0, height = 0;
mediaStatus = AImage_getWidth(image, &width);
if (mediaStatus != AMEDIA_OK || image == nullptr){
logger::error(TAG, "获取当前yuv帧宽度失败");
AImage_delete(image);
return;
}
mediaStatus = AImage_getHeight(image, &height);
if (mediaStatus != AMEDIA_OK || image == nullptr){
logger::error(TAG, "获取当前yuv帧高度失败");
AImage_delete(image);
return;
}
// ==========
const auto *ndkCamera = reinterpret_cast<NDKCamera*>(context);
for (int plane = 0; plane < 3; ++plane) {
uint8_t* planeData = nullptr;
int planeDataLen = 0;
if (AImage_getPlaneData(image, plane, &planeData, &planeDataLen) != AMEDIA_OK) {
logger::error(TAG, "AImage_getPlaneData failed plane=%d", plane);
AImage_delete(image);
return;
}
int rowStride = 0, pixelStride = 0;
AImage_getPlaneRowStride(image, plane, &rowStride);
AImage_getPlanePixelStride(image, plane, &pixelStride);
int planeWidth = (plane == 0) ? width : (width + 1) / 2;
int planeHeight = (plane == 0) ? height : (height + 1) / 2;
// 按行按 pixelStride 写入，确保是连续的 Y then U then V
for (int y = 0; y < planeHeight; ++y) {
const uint8_t* rowPtr = planeData + y * rowStride;
if (pixelStride == 1) {
// 直接写 planeWidth 字节
ndkCamera->yuvStream->write(reinterpret_cast<const char*>(rowPtr), planeWidth);
} else {
// 需要按 pixelStride 抽取
for (int x = 0; x < planeWidth; ++x) {
ndkCamera->yuvStream->put(rowPtr[x * pixelStride]);
}
}
}
}
AImage_delete(image);
logger::info(TAG, "yuv width: %d, height: %d", width, height);
},
};
AImageReader_setImageListener(aImageReader, &imageListener);
ANativeWindow* window = nullptr;
mediaStatus = AImageReader_getWindow(aImageReader, &window);
if (mediaStatus != AMEDIA_OK){
logger::error(TAG, "AImageReader_getWindow 失败");
return;
}
ACaptureRequest *request = nullptr;
status = ACameraDevice_createCaptureRequest(device, TEMPLATE_PREVIEW, &request);
if (status != ACAMERA_OK){
logger::error(TAG, "开启 ACameraDevice_createCaptureRequest 失败");
return;
}
// 设置帧率范围
int32_t range[2] = {30, 30}; // 固定 30fps
ACaptureRequest_setEntry_i32(request,
ACAMERA_CONTROL_AE_TARGET_FPS_RANGE,
2, range);
ACameraOutputTarget *aCameraOutputTarget = nullptr;
status = ACameraOutputTarget_create(window, &aCameraOutputTarget);
if (status != ACAMERA_OK){
logger::error(TAG, "开启 ACameraOutputTarget_create 失败");
return;
}
status = ACaptureRequest_addTarget(request, aCameraOutputTarget);
if (status != ACAMERA_OK){
logger::error(TAG, "开启 ACaptureRequest_addTarget 失败");
return;
}
ACameraCaptureSession_stateCallbacks sessionStateCallbacks = {
.context = nullptr,
.onClosed = [](void* context, ACameraCaptureSession *session) -> void {
logger::info(TAG, "onClosed...");
},
.onReady = [](void* context, ACameraCaptureSession *session) -> void {
logger::info(TAG, "onReady...");
},
.onActive = [](void* context, ACameraCaptureSession *session) -> void {
logger::info(TAG, "onActive...");
},
};
ACameraCaptureSession_captureCallbacks captureCallbacks = {
.context = nullptr,
.onCaptureStarted = [](void* context, ACameraCaptureSession* session,
const ACaptureRequest* request, int64_t timestamp) -> void {
logger::info(TAG, "onCaptureStarted timestamp: %d", timestamp);
},
.onCaptureProgressed = [](void* context, ACameraCaptureSession* session,
ACaptureRequest* request, const ACameraMetadata* result) -> void {
logger::info(TAG, "onCaptureProgressed...");
},
.onCaptureCompleted = [](void* context, ACameraCaptureSession* session,
ACaptureRequest* request, const ACameraMetadata* result) -> void {
ACameraMetadata_const_entry fpsEntry = {};
if (ACameraMetadata_getConstEntry(result,
ACAMERA_CONTROL_AE_TARGET_FPS_RANGE, &fpsEntry) == ACAMERA_OK) {
if (fpsEntry.count >= 2) {
int32_t minFps = fpsEntry.data.i32[0];
int32_t maxFps = fpsEntry.data.i32[1];
logger::info(TAG, "onCaptureCompleted 当前帧率范围: [%d, %d]", minFps, maxFps);
}
}
},
.onCaptureFailed = [](void* context, ACameraCaptureSession* session,
ACaptureRequest* request, ACameraCaptureFailure* failure) -> void {
logger::info(TAG, "onCaptureFailed frameNumber: %d, reason: %d, sequenceId: %d, wasImageCaptured: %d", failure->frameNumber, failure->reason, failure->sequenceId, failure->wasImageCaptured);
},
.onCaptureSequenceCompleted = [](void* context, ACameraCaptureSession* session,
int sequenceId, int64_t frameNumber) -> void {
logger::info(TAG, "onCaptureSequenceCompleted sequenceId: %d, frameNumber: %d", sequenceId, frameNumber);
},
.onCaptureSequenceAborted = [](void* context, ACameraCaptureSession* session,
int sequenceId) -> void {
logger::info(TAG, "onCaptureSequenceAborted sequenceId: %d", sequenceId);
},
.onCaptureBufferLost = [](void* context, ACameraCaptureSession* session,
ACaptureRequest* request, ACameraWindowType* window, int64_t frameNumber) -> void {
logger::info(TAG, "onCaptureBufferLost frameNumber: %d", frameNumber);
},
};
status = ACaptureSessionOutputContainer_create(&aCaptureSessionOutputContainer);
if (status != ACAMERA_OK){
logger::error(TAG, "开启 ACaptureSessionOutputContainer_create 失败");
return;
}
status = ACaptureSessionOutput_create(window, &sessionOutput);
if (status != ACAMERA_OK){
logger::error(TAG, "开启 ACaptureSessionOutput_create 失败");
return;
}
status = ACaptureSessionOutputContainer_add(aCaptureSessionOutputContainer, sessionOutput);
if (status != ACAMERA_OK){
logger::error(TAG, "开启 ACaptureSessionOutputContainer_add 失败");
return;
}
status = ACameraDevice_createCaptureSession(device, aCaptureSessionOutputContainer, &sessionStateCallbacks, &session);
if (status != ACAMERA_OK){
logger::error(TAG, "开启 ACameraDevice_createCaptureSession 失败");
return;
}
#if __ANDROID_API__ >= 33
ACameraCaptureSession_captureCallbacksV2 captureCallbacksV2 = {
.context = nullptr,
.onCaptureStarted = [](void* context, ACameraCaptureSession* session,
const ACaptureRequest* request, int64_t timestamp, int64_t frameNumber) -> void {
},
.onCaptureProgressed = [](void* context, ACameraCaptureSession* session,
ACaptureRequest* request, const ACameraMetadata* result) -> void {
},
.onCaptureCompleted = [](void* context, ACameraCaptureSession* session,
ACaptureRequest* request, const ACameraMetadata* result) -> void {
},
.onCaptureFailed = [](void* context, ACameraCaptureSession* session,
ACaptureRequest* request, ACameraCaptureFailure* failure) -> void {
},
.onCaptureSequenceCompleted = [](void* context, ACameraCaptureSession* session,
int sequenceId, int64_t frameNumber) -> void {
},
.onCaptureSequenceAborted = [](void* context, ACameraCaptureSession* session,
int sequenceId) -> void {
},
.onCaptureBufferLost = [](void* context, ACameraCaptureSession* session,
ACaptureRequest* request, ACameraWindowType* window, int64_t frameNumber) -> void {
},
};
status = ACameraCaptureSession_setRepeatingRequestV2(session, &captureCallbacksV2, 1, &request, nullptr);
if (status != ACAMERA_OK){
logger::error(TAG, "开启 ACameraCaptureSession_setRepeatingRequestV2 失败");
return;
}
#else
status = ACameraCaptureSession_setRepeatingRequest(session, &captureCallbacks, 1, &request, nullptr);
if (status != ACAMERA_OK){
logger::error(TAG, "开启 ACameraCaptureSession_setRepeatingRequest 失败");
return;
}
#endif
}
NDKCamera::~NDKCamera() {
logger::info(TAG, "~NDKCamera...");
if (this->aImageReader != nullptr){
AImageReader_delete(this->aImageReader);
}
if (session != nullptr){
ACameraCaptureSession_close(session);
}
if (device != nullptr){
ACameraDevice_close(device);
}
if (aCameraManager != nullptr) {
ACameraManager_delete(aCameraManager);
}
if (this->yuvStream != nullptr){
this->yuvStream->close();
}
if (this->aCaptureSessionOutputContainer != nullptr){
ACaptureSessionOutputContainer_free(this->aCaptureSessionOutputContainer);
}
if (this->sessionOutput != nullptr){
ACaptureSessionOutput_free(this->sessionOutput);
}
}
void NDKCamera::printCameraCapabilities(const char * const cameraId){
ACameraMetadata *metadata = nullptr;
camera_status_t status = ACameraManager_getCameraCharacteristics(this->aCameraManager, cameraId, &metadata);
if(status != ACAMERA_OK){
logger::error(TAG, "获取摄像头信息失败");
return;
}
ACameraMetadata_const_entry entry = {};
if (ACameraMetadata_getConstEntry(metadata, ACAMERA_SCALER_AVAILABLE_STREAM_CONFIGURATIONS, &entry) == ACAMERA_OK){
logger::info(TAG, "支持的分辨率:");
for(uint32_t i = 0; i + 3 < entry.count; i += 4){
int32_t format = entry.data.i32[i + 0];
int32_t width = entry.data.i32[i + 1];
int32_t height = entry.data.i32[i + 2];
int32_t isInput = entry.data.i32[i + 3];
if (isInput == 0 && format == AIMAGE_FORMAT_YUV_420_888){
logger::info(TAG, "format: %d, width: %d, height: %d, isInput: %d", format, width, height, isInput);
}
}
}
if (ACameraMetadata_getConstEntry(metadata, ACAMERA_CONTROL_AE_AVAILABLE_TARGET_FPS_RANGES, &entry) == ACAMERA_OK){
logger::info(TAG, "支持的帧率范围:");
for (uint32_t i = 0; i + 1 < entry.count; i += 2) {
logger::info(TAG, "帧率范围: [%d, %d]", entry.data.i32[i], entry.data.i32[i + 1]);
}
}
ACameraMetadata_free(metadata);
}

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暴露给Kotlin

extern "C"
JNIEXPORT jlong JNICALL
Java_io_github_opensllearn_utils_Utils_initCamera(JNIEnv *env, jobject, jint width, jint height, jstring pcmPath) {
NDKCamera *ndkCamera = nullptr;
try {
jboolean isCopy = false;
const char * const pcmPathStr = env->GetStringUTFChars(pcmPath, &isCopy);
ndkCamera = new NDKCamera(width, height, pcmPathStr);
if (isCopy){
env->ReleaseStringUTFChars(pcmPath, pcmPathStr);
}
} catch (const std::exception &e) {
delete ndkCamera;
ndkCamera = nullptr;
env->ThrowNew(env->FindClass("java/lang/RuntimeException"), e.what());
}
return reinterpret_cast<jlong>(ndkCamera);
}
extern "C"
JNIEXPORT void JNICALL
Java_io_github_opensllearn_utils_Utils_releaseCamera(JNIEnv*, jobject, jlong ptr) {
const auto* const ndkKCamera = reinterpret_cast<NDKCamera*>(ptr);
delete ndkKCamera;
}

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结束.后续如果想渲染得话可以使用Surface,然后传入Native,使用OpenGL,先将yuv420p转为RGB然后交给OpenGL.不是很复杂.
核心逻辑

for (int plane = 0; plane < 3; ++plane) {
uint8_t* planeData = nullptr;
int planeDataLen = 0;
if (AImage_getPlaneData(image, plane, &planeData, &planeDataLen) != AMEDIA_OK) {
logger::error(TAG, "AImage_getPlaneData failed plane=%d", plane);
AImage_delete(image);
return;
}
int rowStride = 0, pixelStride = 0;
AImage_getPlaneRowStride(image, plane, &rowStride);
AImage_getPlanePixelStride(image, plane, &pixelStride);
int planeWidth = (plane == 0) ? width : (width + 1) / 2;
int planeHeight = (plane == 0) ? height : (height + 1) / 2;
// 按行按 pixelStride 写入，确保是连续的 Y then U then V
for (int y = 0; y < planeHeight; ++y) {
const uint8_t* rowPtr = planeData + y * rowStride;
if (pixelStride == 1) {
// 直接写 planeWidth 字节
ndkCamera->yuvStream->write(reinterpret_cast<const char*>(rowPtr), planeWidth);
} else {
// 需要按 pixelStride 抽取
for (int x = 0; x < planeWidth; ++x) {
ndkCamera->yuvStream->put(rowPtr[x * pixelStride]);
}
}
}
}

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AIMAGE_FORMAT_YUV_420_888: 后面得888表示Y,U,V占一字节.
这个特殊得结果兼任了上文所说得yuv420p与yuv420sp.

int32_t planes = 0;
AImage_getNumberOfPlanes(image, &planes);

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AImage_getNumberOfPlanes可以获得planes得分量,一般是3(RGB,YUV)或者4(ARGB).
AImage_getPlaneData(image, plane, &planeData, &planeDataLen)获取得是对于得分量的Plane.
planeData是个char类型的二维数组指针,planeDataLen就是把二维数组看成一维数组以后的长度.
比如:

planeData
|
YYYY
YYYY

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又比如

planeData
|
UPUP

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高潮时刻到了,打起精神! 先整一个AI笑话.

「对着代码改到凌晨，突然灵魂拷问：我费这劲学 YUV 格式、调 AImage 有啥卵用啊？」「要是此刻能冲进来个富婆，啪给我一巴掌说‘别卷这些破玩意了’，再扔张黑卡‘姐带你环球旅行’，我当场能把编译器删了！」
「调试 YUV420P 转码又卡了两小时，盯着屏幕发呆：会这些到底能换几毛钱啊？」「突然脑补一个场景：富婆推门进来，反手给我一巴掌，特霸气地说‘别跟像素较劲了’，然后拽着我就走‘现在就去马尔代夫晒太阳’—— 唉，梦该醒了，继续改 bug 吧。」
「写 AImage 提取数据的代码时，突然摆烂：学这些冷门技术，除了掉头发还有啥用？」「要是有富婆能过来，轻轻扇我一下说‘别学了没用’，再补一句‘我带你去环游世界’，我现在就把项目文件夹拖进回收站，绝不犹豫！」

梦醒了!
AImage_getPlaneRowStride会返回每行的数据量,且会包含无效数据
如下

planeData
|
UPUP

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P就是无效数据,所以就需要下一个函数登场.
AImage_getPlanePixelStride代表每行有效像素的距离.
这时候你就需要一个char一个char的写了.
结束.

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