static void drawImage( cv::Mat &matBGR,const ListBody& bodies) { for (const auto &body: bodies) { int id = body.id; const int stickWidth = 4; int number = -1; // ...-Go服务器开发

根据你提供的代码，可以实现以下绘制效果：

static void drawImage(cv::Mat& matBGR, const ListBody& bodies)
{
    for (const auto& body : bodies)
    {
        int id = body.id;
        const int stickWidth = 4;
        int number = -1;
        cv::Scalar leftcolor = g_leftLinesColors[3];
        cv::Scalar rightcolor = g_rightLinesColors[3];

        for (const auto& limb : limbKeypointsIds)
        {
            auto& first_pt = body.joints[limb.first];
            auto& second_pt = body.joints[limb.second];
            number++;
            if ((first_pt.x < 0.1 && first_pt.y < 0.1) ||
                (second_pt.x < 0.1 && second_pt.y < 0.1))
            {
                continue;
            }
            
            cv::Scalar color;
            
            if (limb.first <= 2 && limb.second <= 2)
                color = rightcolor;
            else if (limb.second % 2 == 0)
                color = rightcolor;
            else if (limb.second % 2 != 0)
                color = leftcolor;

            cv::line(matBGR,
                     cv::Point2d(first_pt.x, first_pt.y),
                     cv::Point2d(second_pt.x, second_pt.y),
                     color,
                     stickWidth);
        }

        for (int idx = 0; idx < OBS_JOINT_MAX; ++idx)
        {
            cv::Point2d pt = cv::Point2d(body.joints[idx].x, body.joints[idx].y);

             // 绘制关节点
             if (pt.x > 0.1 && pt.y > 0.1)
             {
                 cv::Scalar pointColor;
                 if (idx <= 2)
                     pointColor = cv::Scalar(255, 255, 255);
                 else if (idx % 2 == 0)
                     pointColor = cv::Scalar(255, 255, 255);
                 else if (idx % 2 != 0)
                     pointColor = cv::Scalar(255, 255, 0);

                 cv::circle(matBGR, pt, 4, pointColor, -1);
             }
         }
     }
}

这段代码使用 OpenCV 库绘制身体关键点和连线。通过遍历 bodies 数组中的每个 body，依次获取关节点的坐标信息进行绘制。根据需要修改 cv::circle 和 cv::line 函数的参数来调整关节点和连线的颜色、粗细等属性。

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