frame that is got by using videoProcessFrame is blurred

[ynaka01-max]

I want to detect AR marker using image frame by using videoProcessFrame.
So, I want convert CVPixelBuffer to UIImage.
However, UIImage that converted from CVPixelBuffer was blurred (See images).
How should I convert it? Or is it possible to get a clear image?

drone: Mavic 2 Zoom
code

func videoProcessFrame(_ frame: UnsafeMutablePointer<VideoFrameYUV>!) {
        if (self.gloVar.landingMode == 1 && autoLandingStarted == true) {
            if (videoFrameCount % 10 == 0) { 
                var pixelBuffer:CVPixelBuffer;
                var image:UIImage;
                if frame.pointee.cv_pixelbuffer_fastupload != nil {
                    pixelBuffer = unsafeBitCast(frame.pointee.cv_pixelbuffer_fastupload, to: CVPixelBuffer.self)
                    image = imageFromPixelBuffer(imageBuffer: pixelBuffer)! <-- here

func imageFromPixelBuffer(imageBuffer:CVPixelBuffer) -> UIImage? {
        let sourceImage = CIImage.init(cvPixelBuffer: imageBuffer, options: nil)
        let size = sourceImage.extent.size
        UIGraphicsBeginImageContext(size)
        let rect = CGRect(origin: .zero, size: size)
        let remImage = UIImage(ciImage: sourceImage)
        remImage.draw(in: rect)
        let result : UIImage = UIGraphicsGetImageFromCurrentImageContext()!
        UIGraphicsEndImageContext()
        return result
    }

image1

image2

[dji-dev]

Agent comment from Luce Luo in Zendesk ticket #39553:

Dear Yuki,

Thank you for contacting DJI.
I have found some related issues for you, please try to refer to it if any help first.
#383
dji-sdk/DJIWidget#9

Thanks,

Luce Luo
DJI Developer Support

[ynaka01-max]

I have read and tried these posts before asking questions. So, it's not helping. The problem is that the uv element of the received frame(cv_pixelbuffer_fastupload) is clearly missing. Therefore, the image has faded like the image I sent. It doesn't happen except for mavic2 zoom. Why is this happning? I'm asking for the solution. 2020年9月27日(日) 15:14 DJI <[email protected]>:

…

Agent comment from Luce Luo in Zendesk ticket #39553 <https://djisdksupport.zendesk.com/agent/tickets/39553>: Dear Yuki, Thank you for contacting DJI. I have found some related issues for you, please try to refer to it if any help first. #383 <#383> dji-sdk/DJIWidget#9 <dji-sdk/DJIWidget#9> Thanks, Luce Luo DJI Developer Support — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#399 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ANPXK6D2QS6SN7QUN426Y6LSH3J5FANCNFSM4RZMSBLQ> .

[afullerriis]

@ynaka01-max

I'm not certain this will resolve you issue, but we were having a similar issue. It turned out that the DJI video frame was incorrectly reporting its frame size. Changing the camera aspect ratio to 16 by 9 instead of 4 by 3 corrected our issue.