實戰：基於OpenPose的卡通人物可視化 | CSDN博文精選

• 2019 年 10 月 28 日
• 筆記

來源 | CSDN部落格

前言

去年打算用些現成的Pose做些展示，因為以前有在OpenPose做些識別等開發工作，所以這次我就簡單在OpenPose上把骨架用動畫填充上去，關於能夠和人動作聯繫起來的動畫，我找到了Unity提供的示例Anima2D，但是Unity學得不是很熟，我就用PhotoShop把Anima2D的每個部位截取保存下來，然後使用OpenCV把各個部位讀取進去，做些數學計算，把各個部位貼到OpenPose得出的骨架結果上，最後得到一個簡單的2D動作展示，程式碼我會貼出來，下面寫下我的思路，方法很簡單。

思路描述

找個動畫，把它的關節拆開，我選用了Anima2D的一個example。

用Photoshop把各個部位拆開，這樣子方法用OpenCV讀取各個關節來做旋轉變化。

3. 根據OpenPose的18個關節點的位置，制定切實可行的關節旋轉計劃，因為旋轉需要其餘點繞一個定點來旋轉，而一個關節的旋轉勢必會帶動與它相關連的所有點的旋轉，所以這一部分要考慮清楚。下面是我當時做的各類型的草稿，大致內容是在研究怎麼旋轉，這裡沒有詳細體現出來。

4. 然後我設計了一個很大致的關節點聯繫的草圖，大家看具體的關節點聯繫就好了，我當時是給每個關節標號了。

就是由上面這個玩意，我最後將各個部位一步一步組成一個完整形態的機器人，可能和官方的example有一點差距，但是過程中有些麻煩的東西我就給它去掉了。

6. 程式碼細節我就不細講了，就是些簡單的數學旋轉變化，再調一調就出來了，另外這個可以加入SVM，將關節點回歸某些指定的動作，這樣可以實現在動畫過程中你做出指定的動作後動畫介面做出一些回饋，最簡單的就是你比劃兩下然後頭部的顏色就從白色變成黑色，或把它背景顏色改一下，實現一些用戶交互性的東西這些自己去研究，SVM這個簡單可行，剛好加到VS裡面編譯一下就出來了，下面是程式碼，我就加了一些自己的東西。

圖片資源在CSDN下載那裡搜索「Anima2D的Robot圖片 」就有了。

#include <chrono>  #include <thread>  #include <gflags/gflags.h>  #ifndef GFLAGS_GFLAGS_H_  namespace gflags = google;  #endif  #include <openpose/headers.hpp>  #include <vector>  #include <stdio.h>  #include <opencv2/opencv.hpp>  #include<Math.h>  #include<svm.h>  #define pi 3.1415926  #include <iostream>  #include<fstream>    #pragma comment(linker, "/subsystem:"windows" /entry:"mainCRTStartup"" )    void saveBead(cv::Mat *background, cv::Mat *bead, int X_, int Y_, int tarX, int tarY);  int cvAdd4cMat_q(cv::Mat &dst, cv::Mat &scr, double scale);  cv::Mat rotate(cv::Mat src, double angle);  void getPoint(int *point, int srcX, int srcY, double angle, int srcImgCols, int srcImgRows, int tarImgCols, int tarImgRows);  cv::Mat getRobot(op::Array<float> poseKeypoints,double scale);  double getAngle(double p0_x, double p0_y, double p1_x, double p1_y);  void resizeImg(double scale);    // Robot Param  int point[2] = { 0,0 };  double scale = 1;  cv::Mat  img0_s = cv::imread("D:/Robot/background0.png"),  img1_s = cv::imread("D:/Robot/1.png", -1),  img2_s = cv::imread("D:/Robot/2.png", -1),  head_s = cv::imread("D:/Robot/3.png", -1),  img4_s = cv::imread("D:/Robot/4.png", -1),  foot_s = cv::imread("D:/Robot/5.png", -1),  leg_s = cv::imread("D:/Robot/6.png", -1),  img7_s = cv::imread("D:/Robot/7.png", -1),  bead_s = cv::imread("D:/Robot/8.png", -1),  m1_s = cv::imread("D:/Robot/9.png", -1),  m2_s = cv::imread("D:/Robot/10.png", -1),  hand_s = cv::imread("D:/Robot/11.png", -1),  neck_s = cv::imread("D:/Robot/12.png", -1),  body_s = cv::imread("D:/Robot/13.png", -1),  circle_s = cv::imread("D:/Robot/14.png", -1),  img15_s = cv::imread("D:/Robot/15.png", -1),  handcenter_s = cv::imread("D:/Robot/16.png", -1), background,  b1= cv::imread("D:/Robot/background1.png")  ;    cv::Mat img0 = img0_s.clone(),  img1 = img1_s.clone(),  img2 = img2_s.clone(),  head = head_s.clone(),  img4 = img4_s.clone(),  foot = foot_s.clone(),  leg = leg_s.clone(),  img7 = img7_s.clone(),  bead = bead_s.clone(),  m1 = m1_s.clone(),  m2 = m2_s.clone(),  hand = hand_s.clone(),  neck = neck_s.clone(),  body = body_s.clone(),  circle = circle_s.clone(),  img15 = img15_s.clone(),  handcenter = handcenter_s.clone();    int camera_rows = 720, camera_cols = 1280;  //int ccount = 0;  struct UserDatum : public op::Datum  {      bool boolThatUserNeedsForSomeReason;        UserDatum(const bool boolThatUserNeedsForSomeReason_ = false) :          boolThatUserNeedsForSomeReason{ boolThatUserNeedsForSomeReason_ }      {}  };    class WUserOutput : public op::WorkerConsumer<std::shared_ptr<std::vector<UserDatum>>>  {  public:      void initializationOnThread() {}        void workConsumer(const std::shared_ptr<std::vector<UserDatum>>& datumsPtr)      {          try          {              if (datumsPtr != nullptr && !datumsPtr->empty())              {                  const auto& poseKeypoints = datumsPtr->at(0).poseKeypoints;                  const auto& poseHeatMaps = datumsPtr->at(0).poseHeatMaps                    background = img0.clone();                  cv::Mat d2 , d1 = datumsPtr->at(0).cvOutputData,temp, d0 = datumsPtr->at(0).cvInputData;                  cv::resize(background, temp, cv::Size(640, 360), (0, 0), (0, 0), cv::INTER_LINEAR);                  if (poseKeypoints.empty())                  {                      cv::imshow("卡通介面", temp);                  }                  else                  {                      d2 = getRobot(poseKeypoints, scale);                      cv::resize(d2, d2, cv::Size(640, 360), (0, 0), (0, 0), cv::INTER_LINEAR);                      cv::imshow("卡通介面", d2);                  }                    cv::resize(d0, d0, cv::Size(640, 360), (0, 0), (0, 0), cv::INTER_LINEAR);                  cv::imshow("攝影機介面", d0);                    const char key = (char)cv::waitKey(1);                  if (key == 27)                      this->stop();                }          }          catch (const std::exception& e)          {              this->stop();              op::error(e.what(), __LINE__, __FUNCTION__, __FILE__);          }      }  };  int openPoseDemo()  {      try      {          op::log("Starting OpenPose demo...", op::Priority::High);          const auto timerBegin = std::chrono::high_resolution_clock::now();          op::check(0 <= 3 && 3 <= 255, "Wrong logging_level value.",              __LINE__, __FUNCTION__, __FILE__);          op::ConfigureLog::setPriorityThreshold((op::Priority)3);          op::Profiler::setDefaultX(1000);          const auto outputSize = op::flagsToPoint("-1x-1", "-1x-1");          // netInputSize          const auto netInputSize = op::flagsToPoint("-1x256", "-1x368");          // faceNetInputSize          const auto faceNetInputSize = op::flagsToPoint("368x368", "368x368 (multiples of 16)");          // handNetInputSize          const auto handNetInputSize = op::flagsToPoint("368x368", "368x368 (multiples of 16)");          // producerType          const auto producerSharedPtr = op::flagsToProducer("", "", "", -1,              false, "-1x-1", 30,              "models/cameraParameters/flir/", !false,              (unsigned int)1, -1);          // poseModel          const auto poseModel = op::flagsToPoseModel("COCO");          // JSON saving          //if (!FLAGS_write_keypoint.empty())          //  op::log("Flag `write_keypoint` is deprecated and will eventually be removed."          //      " Please, use `write_json` instead.", op::Priority::Max);          // keypointScale          const auto keypointScale = op::flagsToScaleMode(0);          // heatmaps to add          const auto heatMapTypes = op::flagsToHeatMaps(false, false,              false);          const auto heatMapScale = op::flagsToHeatMapScaleMode(2);          // >1 camera view?          const auto multipleView = (false || 1 > 1 || false);          // Enabling Google Logging          const bool enableGoogleLogging = true;          op::Wrapper<std::vector<UserDatum>> opWrapper;          auto wUserOutput = std::make_shared<WUserOutput>();          // Add custom processing          const auto workerOutputOnNewThread = true;          opWrapper.setWorkerOutput(wUserOutput, workerOutputOnNewThread);            // Pose configuration (use WrapperStructPose{} for default and recommended configuration)          const op::WrapperStructPose wrapperStructPose{              !false, netInputSize, outputSize, keypointScale, -1, 0,              1, (float)0.3, op::flagsToRenderMode(-1, multipleView),              poseModel, !false, (float)0.6, (float)0.7,              0, "models/", heatMapTypes, heatMapScale, false,              (float)0.05, -1, enableGoogleLogging };          // Face configuration (use op::WrapperStructFace{} to disable it)          const op::WrapperStructFace wrapperStructFace{              false, faceNetInputSize, op::flagsToRenderMode(-1, multipleView, -1),              (float)0.6, (float)0.7, (float)0.2 };          // Hand configuration (use op::WrapperStructHand{} to disable it)          const op::WrapperStructHand wrapperStructHand{              false, handNetInputSize, 1, (float)0.4, false,              op::flagsToRenderMode(-1, multipleView, -1), (float)0.6,              (float)0.7, (float)0.2 };          // Extra functionality configuration (use op::WrapperStructExtra{} to disable it)          const op::WrapperStructExtra wrapperStructExtra{              false, -1, false, -1, 0 };          // Producer (use default to disable any input)          const op::WrapperStructInput wrapperStructInput{producerSharedPtr, 0, (unsigned int)-1, false, false, 0, false };            const auto displayMode = op::DisplayMode::NoDisplay;          const bool guiVerbose = false;          const bool fullScreen = false;          const op::WrapperStructOutput wrapperStructOutput{              displayMode, guiVerbose, fullScreen, "",              op::stringToDataFormat("yml"), "", "",              "", "", "png", "",              30, "", "png", "",              "", "", "8051" };          // Configure wrapper          opWrapper.configure(wrapperStructPose, wrapperStructFace, wrapperStructHand, wrapperStructExtra,              wrapperStructInput, wrapperStructOutput);          // Set to single-thread running (to debug and/or reduce latency)          if (false)              opWrapper.disableMultiThreading();            op::log("Starting thread(s)...", op::Priority::High);            opWrapper.exec();            const auto now = std::chrono::high_resolution_clock::now();          const auto totalTimeSec = (double)std::chrono::duration_cast<std::chrono::nanoseconds>(now - timerBegin).count()              * 1e-9;          const auto message = "OpenPose demo successfully finished. Total time: "              + std::to_string(totalTimeSec) + " seconds.";          op::log(message, op::Priority::High);            return 0;      }      catch (const std::exception& e)      {          op::error(e.what(), __LINE__, __FUNCTION__, __FILE__);          return -1;      }  }    int main(int argc, char *argv[])  {      resizeImg(0.7);      gflags::ParseCommandLineFlags(&argc, &argv, true);      return openPoseDemo();  }      cv::Mat getRobot(op::Array<float> poseKeypoints,double scale)  {      //我根據傳入的關鍵點序列構造了一個完整的機器人的形狀，由最初的背景，一點一點地把部件貼上去，最麻煩的就是計算部件旋轉帶動其他部件的關係      //我在這裡用的方法是指定每個部件在前一個部件的相對位置      //後面使用了指針，所以這裡還是需要克隆一下，不然每次換幀都在同一張背景下會導致有很多疊影      for (int person = 0; person < poseKeypoints.getSize(0); person++)      {          //std::cout << sqrt((poseKeypoints[{person, 1, 0}] - poseKeypoints[{person, 0, 0}])*(poseKeypoints[{person, 1, 0}] - poseKeypoints[{person, 0, 0}]) + (poseKeypoints[{person, 1, 1}] - poseKeypoints[{person, 0, 1}])*(poseKeypoints[{person, 1, 1}] - poseKeypoints[{person, 0, 1}]))  << std::endl;          int center_x = background.cols *poseKeypoints[{person, 1, 0}] * 1.0 / camera_cols;          int center_y = background.rows *poseKeypoints[{person, 1, 1}] * 1.0 / camera_rows;          double p0_x, p0_y, p1_x, p1_y, x, y, a;          double bodyAngle = getAngle(poseKeypoints[{person, 1, 0}], poseKeypoints[{person, 1, 1}], (poseKeypoints[{person, 8, 0}] + poseKeypoints[{person, 11, 0}]) / 2.0, (poseKeypoints[{person, 8, 1}] + poseKeypoints[{person, 11, 1}]) / 2.0);          if (poseKeypoints[{person, 1, 0}] == 0 || poseKeypoints[{person, 1, 1}] == 0 || poseKeypoints[{person, 8, 0}] == 0 || poseKeypoints[{person, 11, 0}] == 0 || poseKeypoints[{person, 8, 1}] == 0 || poseKeypoints[{person, 11, 0}] == 0)              bodyAngle = 0;          //根據OpenPose的關鍵點分布，我由關鍵點1，關鍵點8和11計算出了身體部位的偏轉角          cv::Mat neck_ = rotate(neck, bodyAngle);//脖子的偏轉隨身體          getPoint(point, neck.cols / 2, neck.rows / 2, bodyAngle, neck.cols, neck.rows, neck_.cols, neck_.rows);//獲得翻轉部位指定關鍵點          saveBead(&background, &neck_, center_x, center_y, point[0], point[1]);//將翻轉後的部位還原到背景影像中            cv::Mat body_ = rotate(body, bodyAngle + 7);//取得部位以及翻轉影像          int body_0_X = body.cols / 2, body_0_Y = 25 * scale, //根據原圖我確定了五個關鍵位置，脖子連接部位以及四肢連接的部位              body_1_X = 15 * scale, body_1_Y = body.rows / 5,              body_2_X = body.cols - 10 * scale, body_2_Y = body.rows / 5,              body_3_X = body.cols / 4, body_3_Y = body.rows * 4 / 5,              body_4_X = body.cols * 3 / 4, body_4_Y = body.rows * 4 / 5;            //獲得身體旋轉之後的五個關鍵點的坐標          getPoint(point, body_0_X, body_0_Y, bodyAngle, body.cols, body.rows, body_.cols, body_.rows);          body_0_X = point[0]; body_0_Y = point[1];          getPoint(point, body_1_X, body_1_Y, bodyAngle, body.cols, body.rows, body_.cols, body_.rows);          body_1_X = point[0]; body_1_Y = point[1];          getPoint(point, body_2_X, body_2_Y, bodyAngle, body.cols, body.rows, body_.cols, body_.rows);          body_2_X = point[0]; body_2_Y = point[1];          getPoint(point, body_3_X, body_3_Y, bodyAngle, body.cols, body.rows, body_.cols, body_.rows);          body_3_X = point[0]; body_3_Y = point[1];          getPoint(point, body_4_X, body_4_Y, bodyAngle, body.cols, body.rows, body_.cols, body_.rows);          body_4_X = point[0]; body_4_Y = point[1];            //保存下肢的兩個綠色的摩擦塊，因為身體要覆蓋摩擦塊，所以我先保存兩個摩擦塊，在保存身體          cv::Mat m1_ = rotate(m1, bodyAngle);          saveBead(&background, &m1_, body_3_X - body_0_X + center_x, 15 * scale + body_3_Y - body_0_Y + center_y, m1_.cols / 2, m1_.rows / 2);          saveBead(&background, &m1_, body_4_X - body_0_X + center_x, 15 * scale + body_4_Y - body_0_Y + center_y, m1_.cols / 2, m1_.rows / 2);          saveBead(&background, &body_, center_x, center_y, body_0_X, body_0_Y);//將翻轉後的部位還原到背景影像中                                                                                  //左臂          double m_1x, m_1y, m_0x, m_0y, m_2x, m_2y, m_3x, m_3y;          //手臂的上半部分計算          double hand1Angle = getAngle(poseKeypoints[{person, 2, 0}], poseKeypoints[{person, 2, 1}], poseKeypoints[{person, 3, 0}], poseKeypoints[{person, 3, 1}]);          cv::Mat hand1 = rotate(hand, hand1Angle), m2_ = rotate(m2, hand1Angle);          getPoint(point, hand.cols / 2, 0, hand1Angle, hand.cols, hand.rows, hand1.cols, hand1.rows);//獲得翻轉部位指定關鍵點          m_0x = point[0]; m_0y = point[1];          getPoint(point, hand.cols / 2, hand.rows, hand1Angle, hand.cols, hand.rows, hand1.cols, hand1.rows);//獲得翻轉部位指定關鍵點          m_1x = point[0]; m_1y = point[1];            //手臂的下半部分計算          double hand2Angle = getAngle(poseKeypoints[{person, 3, 0}], poseKeypoints[{person, 3, 1}], poseKeypoints[{person, 4, 0}], poseKeypoints[{person, 4, 1}]);          cv::Mat hand2 = rotate(hand, hand2Angle), hand2center = rotate(handcenter, hand2Angle + 180);          getPoint(point, hand.cols / 2, 0, hand2Angle, hand.cols, hand.rows, hand2.cols, hand2.rows);//獲得翻轉部位指定關鍵點          m_2x = point[0]; m_2y = point[1];          getPoint(point, hand.cols / 2, hand.rows, hand2Angle, hand.cols, hand.rows, hand2.cols, hand2.rows);//獲得翻轉部位指定關鍵點          m_3x = point[0]; m_3y = point[1];            //保存整支手臂          saveBead(&background, &hand1, body_1_X - body_0_X + center_x, body_1_Y - body_0_Y + center_y, m_0x, m_0y);          saveBead(&background, &hand2, m_3x - m_2x + m_1x - m_0x + body_1_X - body_0_X + center_x, m_3y - m_2y + m_1y - m_0y + body_1_Y - body_0_Y + center_y, m_3x, m_3y);          saveBead(&background, &circle, m_1x - m_0x + body_1_X - body_0_X + center_x, m_1y - m_0y + body_1_Y - body_0_Y + center_y, circle.cols / 2, circle.rows / 2);          saveBead(&background, &hand2center, m_3x - m_2x + m_1x - m_0x + body_1_X - body_0_X + center_x, m_3y - m_2y + m_1y - m_0y + body_1_Y - body_0_Y + center_y, hand2center.cols / 2, hand2center.rows / 2);          saveBead(&background, &bead, body_1_X - body_0_X + center_x, body_1_Y - body_0_Y + center_y, bead.cols / 2, bead.rows / 2);            //頭部          double headAngle = getAngle(poseKeypoints[{person, 0, 0}], poseKeypoints[{person, 0, 1}], poseKeypoints[{person, 1, 0}], poseKeypoints[{person, 1, 1}]);          cv::Mat head_ = rotate(head, headAngle);          getPoint(point, head.cols / 2 - 30 * scale, head.rows, headAngle, head.cols, head.rows, head_.cols, head_.rows);//獲得翻轉部位指定關鍵點          saveBead(&background, &head_, center_x, center_y, point[0], point[1]);//將翻轉後的部位還原到背景影像中                                                                                  //右臂                                                                                //手臂的上半部分計算          double hand3Angle = getAngle(poseKeypoints[{person, 5, 0}], poseKeypoints[{person, 5, 1}], poseKeypoints[{person, 6, 0}], poseKeypoints[{person, 6, 1}]);          cv::Mat hand3 = rotate(hand, hand3Angle);          getPoint(point, hand.cols / 2, 0, hand3Angle, hand.cols, hand.rows, hand3.cols, hand3.rows);//獲得翻轉部位指定關鍵點          m_0x = point[0]; m_0y = point[1];          getPoint(point, hand.cols / 2, hand.rows, hand3Angle, hand.cols, hand.rows, hand3.cols, hand3.rows);//獲得翻轉部位指定關鍵點          m_1x = point[0]; m_1y = point[1];            //手臂的下半部分計算          double hand4Angle = getAngle(poseKeypoints[{person, 6, 0}], poseKeypoints[{person, 6, 1}], poseKeypoints[{person, 7, 0}], poseKeypoints[{person, 7, 1}]);          cv::Mat hand4 = rotate(hand, hand4Angle), hand4center = rotate(handcenter, hand4Angle);          getPoint(point, hand.cols / 2, 0, hand4Angle, hand.cols, hand.rows, hand4.cols, hand4.rows);//獲得翻轉部位指定關鍵點          m_2x = point[0]; m_2y = point[1];          getPoint(point, hand.cols / 2, hand.rows, hand4Angle, hand.cols, hand.rows, hand4.cols, hand4.rows);//獲得翻轉部位指定關鍵點          m_3x = point[0]; m_3y = point[1];            //保存整支手臂          saveBead(&background, &hand3, body_2_X - body_0_X + center_x, body_2_Y - body_0_Y + center_y, m_0x, m_0y);          saveBead(&background, &hand4, m_3x - m_2x + m_1x - m_0x + body_2_X - body_0_X + center_x, m_3y - m_2y + m_1y - m_0y + body_2_Y - body_0_Y + center_y, m_3x, m_3y);          saveBead(&background, &circle, m_1x - m_0x + body_2_X - body_0_X + center_x, m_1y - m_0y + body_2_Y - body_0_Y + center_y, circle.cols / 2, circle.rows / 2);          saveBead(&background, &hand4center, m_3x - m_2x + m_1x - m_0x + body_2_X - body_0_X + center_x, m_3y - m_2y + m_1y - m_0y + body_2_Y - body_0_Y + center_y, hand4center.cols / 2, hand4center.rows / 2);          saveBead(&background, &bead, body_2_X - body_0_X + center_x, body_2_Y - body_0_Y + center_y, bead.cols / 2, bead.rows / 2);            //左腿          //左腿的上半部分計算          double leg1Angle = getAngle(poseKeypoints[{person, 8, 0}], poseKeypoints[{person, 8, 1}], poseKeypoints[{person, 9, 0}], poseKeypoints[{person, 9, 1}]);          cv::Mat leg1 = rotate(leg, leg1Angle);          getPoint(point, leg.cols / 2, 0, leg1Angle, leg.cols, leg.rows, leg1.cols, leg1.rows);//獲得翻轉部位指定關鍵點          m_0x = point[0]; m_0y = point[1];          getPoint(point, leg.cols / 2, leg.rows, leg1Angle, leg.cols, leg.rows, leg1.cols, leg1.rows);//獲得翻轉部位指定關鍵點          m_1x = point[0]; m_1y = point[1];            //左腿的下半部分計算          double leg2Angle = getAngle(poseKeypoints[{person, 9, 0}], poseKeypoints[{person, 9, 1}], poseKeypoints[{person, 10, 0}], poseKeypoints[{person, 10, 1}]);          cv::Mat leg2 = rotate(leg, leg2Angle), foot2 = rotate(foot, leg2Angle);          getPoint(point, leg.cols / 2, 0, leg2Angle, leg.cols, leg.rows, leg2.cols, leg2.rows);//獲得翻轉部位指定關鍵點          m_2x = point[0]; m_2y = point[1];          getPoint(point, leg.cols / 2, leg.rows, leg2Angle, leg.cols, leg.rows, leg2.cols, leg2.rows);//獲得翻轉部位指定關鍵點          m_3x = point[0]; m_3y = point[1];            //保存整支左腿          double f_x, f_y;          getPoint(point, foot.cols * 3 / 5 + 10 * scale, 0, leg2Angle, foot.cols, foot.rows, foot2.cols, foot2.rows);//獲得翻轉部位指定關鍵點          f_x = point[0]; f_y = point[1];          saveBead(&background, &leg1, body_3_X - body_0_X + center_x, body_3_Y - body_0_Y + center_y, m_0x, m_0y);          saveBead(&background, &leg2, m_1x - m_0x + body_3_X - body_0_X + center_x, m_1y - m_0y + body_3_Y - body_0_Y + center_y, m_2x, m_2y);          saveBead(&background, &bead, m_1x - m_0x + body_3_X - body_0_X + center_x, m_1y - m_0y + body_3_Y - body_0_Y + center_y, bead.cols / 2, bead.rows / 2);          saveBead(&background, &foot2, m_3x - m_2x + m_1x - m_0x + body_3_X - body_0_X + center_x, m_3y - m_2y + m_1y - m_0y + body_3_Y - body_0_Y + center_y, f_x, f_y);          saveBead(&background, &circle, m_3x - m_2x + m_1x - m_0x + body_3_X - body_0_X + center_x, m_3y - m_2y + m_1y - m_0y + body_3_Y - body_0_Y + center_y, circle.cols / 2, circle.rows / 2);            //右腿          //右腿的上半部分計算          double leg3Angle = getAngle(poseKeypoints[{person, 11, 0}], poseKeypoints[{person, 11, 1}], poseKeypoints[{person, 12, 0}], poseKeypoints[{person, 12, 1}]);          cv::Mat leg3 = rotate(leg, leg3Angle);          getPoint(point, leg.cols / 2, 0, leg3Angle, leg.cols, leg.rows, leg3.cols, leg3.rows);//獲得翻轉部位指定關鍵點          m_0x = point[0]; m_0y = point[1];          getPoint(point, leg.cols / 2, leg.rows, leg3Angle, leg.cols, leg.rows, leg3.cols, leg3.rows);//獲得翻轉部位指定關鍵點          m_1x = point[0]; m_1y = point[1];            //右腿的下半部分計算          double leg4Angle = getAngle(poseKeypoints[{person, 12, 0}], poseKeypoints[{person, 12, 1}], poseKeypoints[{person, 13, 0}], poseKeypoints[{person, 13, 1}]);          cv::Mat leg4 = rotate(leg, leg4Angle), foot4 = rotate(foot, leg4Angle);          getPoint(point, leg.cols / 2, 0, leg4Angle, leg.cols, leg.rows, leg4.cols, leg4.rows);//獲得翻轉部位指定關鍵點          m_2x = point[0]; m_2y = point[1];          getPoint(point, leg.cols / 2, leg.rows, leg4Angle, leg.cols, leg.rows, leg4.cols, leg4.rows);//獲得翻轉部位指定關鍵點          m_3x = point[0]; m_3y = point[1];            //保存整支右腿          getPoint(point, foot.cols * 3 / 5 + 10 * scale, 0, leg4Angle, foot.cols, foot.rows, foot4.cols, foot4.rows);//獲得翻轉部位指定關鍵點          f_x = point[0]; f_y = point[1];          saveBead(&background, &leg3, body_4_X - body_0_X + center_x, body_4_Y - body_0_Y + center_y, m_0x, m_0y);          saveBead(&background, &leg4, m_1x - m_0x + body_4_X - body_0_X + center_x, m_1y - m_0y + body_4_Y - body_0_Y + center_y, m_2x, m_2y);          saveBead(&background, &bead, m_1x - m_0x + body_4_X - body_0_X + center_x, m_1y - m_0y + body_4_Y - body_0_Y + center_y, bead.cols / 2, bead.rows / 2);          saveBead(&background, &foot4, m_3x - m_2x + m_1x - m_0x + body_4_X - body_0_X + center_x, m_3y - m_2y + m_1y - m_0y + body_4_Y - body_0_Y + center_y, f_x, f_y);          saveBead(&background, &circle, m_3x - m_2x + m_1x - m_0x + body_4_X - body_0_X + center_x, m_3y - m_2y + m_1y - m_0y + body_4_Y - body_0_Y + center_y, circle.cols / 2, circle.rows / 2);        }      return background;  }    double getAngle(double p0_x, double p0_y, double p1_x, double p1_y)  {      //這個函數用來計算關節的旋轉角度，需要傳入兩個關鍵點的坐標      //我根據實際情況下確定的角度偏轉方法,每個部件在豎直狀態下偏轉為0度，往右邊偏轉的角度為正值，往左邊偏轉的角度為負值      //考慮了斜率的正負和關鍵點所在的位置，進而確定是否抬手      double bodyAngle, body_X, body_Y, x, y, a;      x = p1_x - p0_x, y = -(p1_y - p0_y);      a = sqrt(x*x + y*y);      if (a == 0) bodyAngle = 0;      else if (p0_x == 0 || p0_y == 0 || p1_x == 0 || p1_y == 0) bodyAngle = 0;      else      {          bodyAngle = asin(abs(x) / a)*180.0 / pi;          if (x / y < 0)          {              if (y>0)                  bodyAngle = bodyAngle - 180;          }          else          {              if (y < 0)                  bodyAngle = -bodyAngle;              else                  bodyAngle = 180 - bodyAngle;          }        }      return bodyAngle;  }    void saveBead(cv::Mat *background, cv::Mat *bead, int X_, int Y_, int tarX, int tarY)  {      //saveBead的作用是將部件bead保存貼在背景background上面，後面的參數是為了指定作用點，前面的X_,Y_是background的固定點坐標      //tarX和tarY是部件中的固定點坐標      if (X_ == 0 || Y_ == 0 || tarX == 0 || tarY == 0) return;      if ((X_ - tarX) >= 0 && (Y_ - tarY) >= 0)      {          if ((X_ - tarX) + (*bead).cols > (*background).cols || (Y_ - tarY) + (*bead).rows > (*background).rows) return;          if (X_ - tarX == 0 || Y_ - tarY == 0) return;          cv::Mat middle(              *background,              cvRect(                  X_ - tarX,                  Y_ - tarY,                  (*bead).cols,                  (*bead).rows              )          );          cvAdd4cMat_q(middle, *bead, 1.0);      }      else return;  }    void getPoint(int *point, int srcX, int srcY, double angle, int srcImgCols, int srcImgRows, int tarImgCols, int tarImgRows)  {      //我這裡會出現原圖和旋轉後的影像，在原圖我取其中幾個點作為我想要擺放其他部件的定點，但是旋轉之後這些點的坐標會發生改變      //所以我設計了getPoint函數，用於得到旋轉圖中，我們原來在原圖中設定的點的坐標，也就是得到旋轉圖後我們之前想要的位置的點的坐標。      int tarX = cos(angle*(pi / 180.0))*(srcX - srcImgCols / 2)          - sin(angle*(pi / 180.0))*(-(srcY - srcImgRows / 2))          + tarImgCols / 2,          tarY = -(sin(angle*(pi / 180.0))*(srcX - srcImgCols / 2)              + cos(angle*(pi / 180.0))*(-(srcY - srcImgRows / 2)))          + tarImgRows / 2;      point[0] = tarX;      point[1] = tarY;  }    int cvAdd4cMat_q(cv::Mat &dst, cv::Mat &scr, double scale)  {//影像重疊操作      if (dst.channels() != 3 || scr.channels() != 4)      {          return true;      }      if (scale < 0.01)          return false;      std::vector<cv::Mat>scr_channels;      std::vector<cv::Mat>dstt_channels;      split(scr, scr_channels);      split(dst, dstt_channels);      CV_Assert(scr_channels.size() == 4 && dstt_channels.size() == 3);        if (scale < 1)      {          scr_channels[3] *= scale;          scale = 1;      }      for (int i = 0; i < 3; i++)      {          dstt_channels[i] = dstt_channels[i].mul(255.0 / scale - scr_channels[3], scale / 255.0);          dstt_channels[i] += scr_channels[i].mul(scr_channels[3], scale / 255.0);      }      merge(dstt_channels, dst);      return true;  }  void resizeImg(double scale)  {      cv::resize(img1_s, img1, cv::Size(img1_s.cols *scale, img1_s.rows *scale), (0, 0), (0, 0), cv::INTER_LINEAR);      cv::resize(img2_s, img2, cv::Size(img2_s.cols *scale, img2_s.rows *scale), (0, 0), (0, 0), cv::INTER_LINEAR);      cv::resize(head_s, head, cv::Size(head_s.cols *scale, head_s.rows *scale), (0, 0), (0, 0), cv::INTER_LINEAR);      cv::resize(img4_s, img4, cv::Size(img4_s.cols *scale, img4_s.rows *scale), (0, 0), (0, 0), cv::INTER_LINEAR);      cv::resize(foot_s, foot, cv::Size(foot_s.cols *scale, foot_s.rows *scale), (0, 0), (0, 0), cv::INTER_LINEAR);      cv::resize(leg_s, leg, cv::Size(leg_s.cols *scale, leg_s.rows *scale), (0, 0), (0, 0), cv::INTER_LINEAR);      cv::resize(img7_s, img7, cv::Size(img7_s.cols *scale, img7_s.rows *scale), (0, 0), (0, 0), cv::INTER_LINEAR);      cv::resize(bead_s, bead, cv::Size(bead_s.cols *scale, bead_s.rows *scale), (0, 0), (0, 0), cv::INTER_LINEAR);      cv::resize(m1_s, m1, cv::Size(m1_s.cols *scale, m1_s.rows *scale), (0, 0), (0, 0), cv::INTER_LINEAR);      cv::resize(m2_s, m2, cv::Size(m2_s.cols *scale, m2_s.rows *scale), (0, 0), (0, 0), cv::INTER_LINEAR);      cv::resize(hand_s, hand, cv::Size(hand_s.cols *scale, hand_s.rows *scale), (0, 0), (0, 0), cv::INTER_LINEAR);      cv::resize(neck_s, neck, cv::Size(neck_s.cols *scale, neck_s.rows *scale), (0, 0), (0, 0), cv::INTER_LINEAR);      cv::resize(body_s, body, cv::Size(body_s.cols *scale, body_s.rows *scale), (0, 0), (0, 0), cv::INTER_LINEAR);      cv::resize(circle_s, circle, cv::Size(circle_s.cols *scale, circle_s.rows *scale), (0, 0), (0, 0), cv::INTER_LINEAR);      cv::resize(img15_s, img15, cv::Size(img15_s.cols *scale, img15_s.rows *scale), (0, 0), (0, 0), cv::INTER_LINEAR);      cv::resize(handcenter_s, handcenter, cv::Size(handcenter_s.cols *scale, handcenter_s.rows *scale), (0, 0), (0, 0), cv::INTER_LINEAR);  }    cv::Mat rotate(cv::Mat src, double angle)  {      //旋轉函數，我傳入影像src，並讓它旋轉angle角度。往右為正值，往左為負值      cv::Point2f center(src.cols / 2, src.rows / 2);      cv::Mat rot = cv::getRotationMatrix2D(center, angle, 1);      cv::Rect bbox = cv::RotatedRect(center, src.size(), angle).boundingRect();      rot.at<double>(0, 2) += bbox.width / 2.0 - center.x;      rot.at<double>(1, 2) += bbox.height / 2.0 - center.y;      cv::Mat dst;      cv::warpAffine(src, dst, rot, bbox.size());      return dst;  }