实战：基于OpenPose的卡通人物可视化 | CSDN博文精选

#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("卡通界面", temp);
                }
                else
                {
                    d2 = getRobot(poseKeypoints, scale);
                    cv::resize(d2, d2, cv::Size(640, 360), (0, 0), (0, 0), cv::INTER_LINEAR);
                    cv::imshow("卡通界面", d2);
                } 

                cv::resize(d0, d0, cv::Size(640, 360), (0, 0), (0, 0), cv::INTER_LINEAR);
                cv::imshow("摄像头界面", 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)
{
    //我根据传入的关键点序列构造了一个完整的机器人的形状，由最初的背景，一点一点地把部件贴上去，最麻烦的就是计算部件旋转带动其他部件的关系
    //我在这里用的方法是指定每个部件在前一个部件的相对位置
    //后面使用了指针，所以这里还是需要克隆一下，不然每次换帧都在同一张背景下会导致有很多叠影
    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;
        //根据OpenPose的关键点分布，我由关键点1，关键点8和11计算出了身体部位的偏转角
        cv::Mat neck_ = rotate(neck, bodyAngle);//脖子的偏转随身体
        getPoint(point, neck.cols / 2, neck.rows / 2, bodyAngle, neck.cols, neck.rows, neck_.cols, neck_.rows);//获得翻转部位指定关键点
        saveBead(&background, &neck_, center_x, center_y, point[0], point[1]);//将翻转后的部位还原到背景图像中

        cv::Mat body_ = rotate(body, bodyAngle + 7);//取得部位以及翻转图像
        int body_0_X = body.cols / 2, body_0_Y = 25 * scale, //根据原图我确定了五个关键位置，脖子连接部位以及四肢连接的部位
            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;

        //获得身体旋转之后的五个关键点的坐标
        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];

        //保存下肢的两个绿色的摩擦块，因为身体要覆盖摩擦块，所以我先保存两个摩擦块，在保存身体
        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);//将翻转后的部位还原到背景图像中

                                                                              //左臂
        double m_1x, m_1y, m_0x, m_0y, m_2x, m_2y, m_3x, m_3y;
        //手臂的上半部分计算
        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);//获得翻转部位指定关键点
        m_0x = point[0]; m_0y = point[1];
        getPoint(point, hand.cols / 2, hand.rows, hand1Angle, hand.cols, hand.rows, hand1.cols, hand1.rows);//获得翻转部位指定关键点
        m_1x = point[0]; m_1y = point[1];

        //手臂的下半部分计算
        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);//获得翻转部位指定关键点
        m_2x = point[0]; m_2y = point[1];
        getPoint(point, hand.cols / 2, hand.rows, hand2Angle, hand.cols, hand.rows, hand2.cols, hand2.rows);//获得翻转部位指定关键点
        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);

        //头部
        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);//获得翻转部位指定关键点
        saveBead(&background, &head_, center_x, center_y, point[0], point[1]);//将翻转后的部位还原到背景图像中

                                                                              //右臂
                                                                              //手臂的上半部分计算
        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);//获得翻转部位指定关键点
        m_0x = point[0]; m_0y = point[1];
        getPoint(point, hand.cols / 2, hand.rows, hand3Angle, hand.cols, hand.rows, hand3.cols, hand3.rows);//获得翻转部位指定关键点
        m_1x = point[0]; m_1y = point[1];

        //手臂的下半部分计算
        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);//获得翻转部位指定关键点
        m_2x = point[0]; m_2y = point[1];
        getPoint(point, hand.cols / 2, hand.rows, hand4Angle, hand.cols, hand.rows, hand4.cols, hand4.rows);//获得翻转部位指定关键点
        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
        //左腿的上半部分计算
        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);//获得翻转部位指定关键点
        m_0x = point[0]; m_0y = point[1];
        getPoint(point, leg.cols / 2, leg.rows, leg1Angle, leg.cols, leg.rows, leg1.cols, leg1.rows);//获得翻转部位指定关键点
        m_1x = point[0]; m_1y = point[1];

        //左腿的下半部分计算
        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);//获得翻转部位指定关键点
        m_2x = point[0]; m_2y = point[1];
        getPoint(point, leg.cols / 2, leg.rows, leg2Angle, leg.cols, leg.rows, leg2.cols, leg2.rows);//获得翻转部位指定关键点
        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);//获得翻转部位指定关键点
        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
        //右腿的上半部分计算
        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);//获得翻转部位指定关键点
        m_0x = point[0]; m_0y = point[1];
        getPoint(point, leg.cols / 2, leg.rows, leg3Angle, leg.cols, leg.rows, leg3.cols, leg3.rows);//获得翻转部位指定关键点
        m_1x = point[0]; m_1y = point[1];

        //右腿的下半部分计算
        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);//获得翻转部位指定关键点
        m_2x = point[0]; m_2y = point[1];
        getPoint(point, leg.cols / 2, leg.rows, leg4Angle, leg.cols, leg.rows, leg4.cols, leg4.rows);//获得翻转部位指定关键点
        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);//获得翻转部位指定关键点
        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)
{
    //这个函数用来计算关节的旋转角度，需要传入两个关键点的坐标
    //我根据实际情况下确定的角度偏转方法,每个部件在竖直状态下偏转为0度，往右边偏转的角度为正值，往左边偏转的角度为负值
    //考虑了斜率的正负和关键点所在的位置，进而确定是否抬手
    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的作用是将部件bead保存贴在背景background上面，后面的参数是为了指定作用点，前面的X_,Y_是background的固定点坐标
    //tarX和tarY是部件中的固定点坐标
    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)
{
    //我这里会出现原图和旋转后的图像，在原图我取其中几个点作为我想要摆放其他部件的定点，但是旋转之后这些点的坐标会发生改变
    //所以我设计了getPoint函数，用于得到旋转图中，我们原来在原图中设定的点的坐标，也就是得到旋转图后我们之前想要的位置的点的坐标。
    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)
{//图像重叠操作
    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)
{
    //旋转函数，我传入图像src，并让它旋转angle角度。往右为正值，往左为负值
    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;
}