How to upload picture using codeigniter?

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<form action="your_controller/upload_picture" method="post" enctype="multipart/form-data">
    <input type="file" name="userfile">
    <input type="submit" value="Upload Picture">
</form>

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public function upload_picture(){
    $config['upload_path'] = './uploads/'; //set the upload directory
    $config['allowed_types'] = 'gif|jpg|png'; //set allowed file types
    $this->load->library('upload', $config);
    
    if (!$this->upload->do_upload('userfile')) {
        $error = array('error' => $this->upload->display_errors());
        //handle the error as needed
    } else {
        $data = array('upload_data' => $this->upload->data());
        //save the file info to the database or display success message
    }
}