Kinect for Windows V2和V1对比开发___骨骼数据获取并用OpenCV2.4.10显示

于 2015-10-07 14:56:47 发布
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分类专栏： Kinect v2 文章标签： kinect kinect-v2 RGB图像画骨骼
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本文介绍了如何在Kinect V1和V2中打开和更新骨骼帧，以及使用OpenCV绘制骨骼数据。通过对比V1的NuiSkeletonGetNextFrame方法和V2的BodyFrameSource接口，展示了V2如何利用Direct2D或OpenCV进行骨骼绘制。此外，还提供了V2与VS2012及OpenCV结合的代码示例，演示了如何获取和处理骨骼数据并实时显示。

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1，       打开骨骼帧的方式

对于V1，

[cpp]  view plain copy print ? 在CODE上查看代码片 派生到我的代码片
  1. 方法NuiSkeletonTrackingEnable实现  
  2.             m_hNextSkeletonEvent = CreateEvent(NULL, TRUE, FALSE, NULL );  
  3.             hr =m_PNuiSensor->NuiSkeletonTrackingEnable(  
  4.                        m_hNextSkeletonEvent,  
  5.             NUI_SKELETON_TRACKING_FLAG_ENABLE_IN_NEAR_RANGE//|  
  6.                        );  
  7.             if( FAILED( hr ) )  
  8.                   {  
  9.                        cout<<"Couldnot open skeleton stream video"<<endl;  
  10.                        return hr;  
  11.                   }  

对于V2

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  1. // Initialize the Kinect andget coordinate mapper and the body reader  
  2.         IBodyFrameSource* pBodyFrameSource = NULL;  
  3.    
  4.         hr = m_pKinectSensor->Open();  
  5.    
  6.         if (SUCCEEDED(hr))  
  7.         {  
  8.             hr = m_pKinectSensor->get_CoordinateMapper(&m_pCoordinateMapper);  
  9.         }  
  10. 方法get_CoordinateMapper得到坐标映射  
  11.         if (SUCCEEDED(hr))  
  12.         {  
  13.             hr =m_pKinectSensor->get_BodyFrameSource(&pBodyFrameSource);  
  14.         }  
  15. 方法get_BodyFrameSource得到骨骼帧源  
  16.         if (SUCCEEDED(hr))  
  17.         {  
  18.             hr =pBodyFrameSource->OpenReader(&m_pBodyFrameReader);  
  19.         }  
  20. 方法get_BodyFrameSource打开骨骼帧读取器  
  21.         SafeRelease(pBodyFrameSource);  
  22.     }  

2，更新骨骼帧方式

对于V1，方法NuiSkeletonGetNextFrame实现

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  1. NUI_SKELETON_FRAMESkeletonFrame;//骨骼帧的定义   
  2.             bool bFoundSkeleton = false;   
  3.    
  4.             if(SUCCEEDED(NuiSkeletonGetNextFrame( 0, &SkeletonFrame )) )//Get the next frameof skeleton data.直接从kinect中提取骨骼帧  

对于V2,

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  1.     if (!m_pBodyFrameReader)  
  2.     {  
  3.         return;  
  4.     }  
  5.   
  6. <pre name="code" class="cpp">    //更新骨骼帧  
    HRESULT hr = m_pBodyFrameReader->AcquireLatestFrame(&pBodyFrame); 
 

 
 
 
  
 
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  1.  //更新骨骼数据  
  2.  hResult = pBodyFrame->GetAndRefreshBodyData( BODY_COUNT, pBody );  
 

 

 
 

 
 

 3，画骨架方式：
 

 对于V1，主要用opencv辅助来画，用到cvLine方法
 

 例如左上肢的实现为：
 

    
 

 
 
 
  
 
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  1.  //左上肢    
  2.      if((pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].x!=0 ||pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].y!=0) &&    
  3.         (pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT].x!=0 ||pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT].y!=0))    
  4.          cvLine(SkeletonImage, pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER],pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT], color, 2);    
  5.      if((pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT].x!=0 ||pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT].y!=0) &&    
  6.          (pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT].x!=0|| pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT].y!=0))    
  7.          cvLine(SkeletonImage,pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT],pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT], color, 2);    
  8.      if((pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT].x!=0 ||pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT].y!=0) &&    
  9.         (pointSet[NUI_SKELETON_POSITION_WRIST_LEFT].x!=0 ||pointSet[NUI_SKELETON_POSITION_WRIST_LEFT].y!=0))    
  10.          cvLine(SkeletonImage,pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT],pointSet[NUI_SKELETON_POSITION_WRIST_LEFT], color, 2);    
  11.      if((pointSet[NUI_SKELETON_POSITION_WRIST_LEFT].x!=0 ||pointSet[NUI_SKELETON_POSITION_WRIST_LEFT].y!=0) &&    
  12.         (pointSet[NUI_SKELETON_POSITION_HAND_LEFT].x!=0 ||pointSet[NUI_SKELETON_POSITION_HAND_LEFT].y!=0))    
  13.          cvLine(SkeletonImage,pointSet[NUI_SKELETON_POSITION_WRIST_LEFT],pointSet[NUI_SKELETON_POSITION_HAND_LEFT], color, 2);    
 

 

 
 

 
 

 
 
 

 对于V2，主要借助Direct2D微软的图形图像API，具体详细可以查阅资料。。当然也可以转换为用opencv来画。下面用OpenCV2.4.10中drawing functions 里边的line（）函数：
 

 
 

 
 
 
  
 
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  1.  line(SkeletonImage,pointSet[joint0], pointSet[joint1],  color, 2);  
 

 

 
 

 
 
 

 4，V2+VS2012+OpenCV代码
 

 
 
 

 
 

 
 
 
  
 
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  1.  #include <Windows.h>  
  2.  #include <Kinect.h>  
  3.  #include <opencv2/opencv.hpp>  
  4.    
  5.  using namespace std;  
  6.  using namespace cv;  
  7.    
  8.  //释放接口需要自己定义  
  9.  template<class Interface>  
  10.  inline void SafeRelease( Interface *& pInterfaceToRelease )  
  11.  {  
  12.      if( pInterfaceToRelease != NULL ){  
  13.          pInterfaceToRelease->Release();  
  14.          pInterfaceToRelease = NULL;  
  15.      }  
  16.  }  
  17.    
  18.    
  19.  void DrawBone( Mat& SkeletonImage,  CvPoint pointSet[], const Joint* pJoints, int whichone, JointType joint0, JointType joint1);  
  20.    
  21.  void drawSkeleton( Mat& SkeletonImage,  CvPoint pointSet[],const Joint* pJoints, int whichone);  
  22.    
  23.    
  24.  int main( int argc, char **argv[] )  
  25.  {  
  26.      //OpenCV中开启CPU的硬件指令优化功能函数  
  27.      setUseOptimized( true );  
  28.    
  29.      // Sensor  
  30.      IKinectSensor* pSensor;  
  31.      HRESULT hResult = S_OK;  
  32.      hResult = GetDefaultKinectSensor( &pSensor );  
  33.      if( FAILED( hResult ) ){  
  34.          std::cerr << "Error : GetDefaultKinectSensor" << std::endl;  
  35.          return -1;  
  36.      }  
  37.    
  38.      hResult = pSensor->Open( );  
  39.      if( FAILED( hResult ) ){  
  40.          std::cerr << "Error : IKinectSensor::Open()" << std::endl;  
  41.          return -1;  
  42.      }  
  43.    
  44.    
  45.    
  46.       //Source  
  47.      IColorFrameSource* pColorSource;  
  48.      hResult = pSensor->get_ColorFrameSource( &pColorSource );  
  49.      if( FAILED( hResult ) ){  
  50.          std::cerr << "Error : IKinectSensor::get_ColorFrameSource()" << std::endl;  
  51.          return -1;  
  52.      }  
  53.    
  54.      IBodyFrameSource* pBodySource;  
  55.      hResult = pSensor->get_BodyFrameSource( &pBodySource );  
  56.      if( FAILED( hResult ) ){  
  57.          std::cerr << "Error : IKinectSensor::get_BodyFrameSource()" << std::endl;  
  58.          return -1;  
  59.      }  
  60.    
  61.      // Reader  
  62.      IColorFrameReader* pColorReader;  
  63.      hResult = pColorSource->OpenReader( &pColorReader );  
  64.      if( FAILED( hResult ) ){  
  65.          std::cerr << "Error : IColorFrameSource::OpenReader()" << std::endl;  
  66.          return -1;  
  67.      }  
  68.    
  69.      IBodyFrameReader* pBodyReader;  
  70.      hResult = pBodySource->OpenReader( &pBodyReader );  
  71.      if( FAILED( hResult ) ){  
  72.          std::cerr << "Error : IBodyFrameSource::OpenReader()" << std::endl;  
  73.          return -1;  
  74.      }  
  75.    
  76.      // Description  
  77.      IFrameDescription* pDescription;  
  78.      hResult = pColorSource->get_FrameDescription( &pDescription );  
  79.      if( FAILED( hResult ) ){  
  80.          std::cerr << "Error : IColorFrameSource::get_FrameDescription()" << std::endl;  
  81.          return -1;  
  82.      }  
  83.    
  84.      int width = 0;  
  85.      int height = 0;  
  86.      pDescription->get_Width( &width ); // 1920  
  87.      pDescription->get_Height( &height ); // 1080  
  88.      unsigned int bufferSize = width * height * 4 * sizeof( unsigned char );  
  89.    
  90.      cv::Mat bufferMat( height, width, CV_8UC4 );  
  91.      cv::Mat bodyMat( height / 2, width / 2, CV_8UC4 );  
  92.      cv::namedWindow( "Body" );  
  93.    
  94.      // Color Table  
  95.      cv::Vec3b color[BODY_COUNT];  
  96.      color[0] = cv::Vec3b( 255,   0,   0 );  
  97.      color[1] = cv::Vec3b(   0, 255,   0 );  
  98.      color[2] = cv::Vec3b(   0,   0, 255 );  
  99.      color[3] = cv::Vec3b( 255, 255,   0 );  
  100.      color[4] = cv::Vec3b( 255,   0, 255 );  
  101.      color[5] = cv::Vec3b(   0, 255, 255 );  
  102.    
  103.    
  104.      // Coordinate Mapper  
  105.      ICoordinateMapper* pCoordinateMapper;  
  106.      hResult = pSensor->get_CoordinateMapper( &pCoordinateMapper );  
  107.      if( FAILED( hResult ) ){  
  108.          std::cerr << "Error : IKinectSensor::get_CoordinateMapper()" << std::endl;  
  109.          return -1;  
  110.      }  
  111.    
  112.    
  113.  while(1){  
  114.              // Frame  
  115.          IColorFrame* pColorFrame = nullptr;  
  116.          hResult = pColorReader->AcquireLatestFrame( &pColorFrame );  
  117.          if( SUCCEEDED( hResult ) ){  
  118.              hResult = pColorFrame->CopyConvertedFrameDataToArray( bufferSize, reinterpret_cast<BYTE*>( bufferMat.data ), ColorImageFormat::ColorImageFormat_Bgra );  
  119.              if( SUCCEEDED( hResult ) ){  
  120.                  cv::resize( bufferMat, bodyMat, cv::Size(), 0.5, 0.5 );  
  121.              }  
  122.    
  123.          }  
  124.          //更新骨骼帧  
  125.          IBodyFrame* pBodyFrame = nullptr;  
  126.          hResult = pBodyReader->AcquireLatestFrame( &pBodyFrame );  
  127.          if( SUCCEEDED( hResult ) ){  
  128.              IBody* pBody[BODY_COUNT] = { 0 };  
  129.              //更新骨骼数据  
  130.              hResult = pBodyFrame->GetAndRefreshBodyData( BODY_COUNT, pBody );  
  131.              if( SUCCEEDED( hResult ) ){  
  132.                  for( int count = 0; count < BODY_COUNT; count++ ){  
  133.                      BOOLEAN bTracked = false;  
  134.                      hResult = pBody[count]->get_IsTracked( &bTracked );  
  135.                      if( SUCCEEDED( hResult ) && bTracked ){  
  136.                          Joint joint[JointType::JointType_Count];  
  137.                          hResult = pBody[ count ]->GetJoints( JointType::JointType_Count, joint );  
  138.                          if( SUCCEEDED( hResult ) ){  
  139.                              // Left Hand State  
  140.                              HandState leftHandState = HandState::HandState_Unknown;  
  141.                              hResult = pBody[count]->get_HandLeftState( &leftHandState );  
  142.                              if( SUCCEEDED( hResult ) ){  
  143.                                  ColorSpacePoint colorSpacePoint = { 0 };  
  144.                                  hResult = pCoordinateMapper->MapCameraPointToColorSpace( joint[JointType::JointType_HandLeft].Position, &colorSpacePoint );  
  145.                                  if( SUCCEEDED( hResult ) ){  
  146.                                      int x = static_cast<int>( colorSpacePoint.X );  
  147.                                      int y = static_cast<int>( colorSpacePoint.Y );  
  148.                                      if( ( x >= 0 ) && ( x < width ) && ( y >= 0 ) && ( y < height ) ){  
  149.                                          if( leftHandState == HandState::HandState_Open ){  
  150.                                              cv::circle( bufferMat, cv::Point( x, y ), 75, cv::Scalar( 0, 128, 0 ), 5, CV_AA );  
  151.                                          }  
  152.                                          else if( leftHandState == HandState::HandState_Closed ){  
  153.                                              cv::circle( bufferMat, cv::Point( x, y ), 75, cv::Scalar( 0, 0, 128 ), 5, CV_AA );  
  154.                                          }  
  155.                                          else if( leftHandState == HandState::HandState_Lasso ){  
  156.                                              cv::circle( bufferMat, cv::Point( x, y ), 75, cv::Scalar( 128, 128, 0 ), 5, CV_AA );  
  157.                                          }  
  158.                                      }  
  159.                                  }  
  160.                              }  
  161.    
  162.                              // Right Hand State  
  163.                              HandState rightHandState = HandState::HandState_Unknown;  
  164.                              hResult = pBody[count]->get_HandRightState( &rightHandState );  
  165.                              if( SUCCEEDED( hResult ) ){  
  166.                                  ColorSpacePoint colorSpacePoint = { 0 };  
  167.                                  hResult = pCoordinateMapper->MapCameraPointToColorSpace( joint[JointType::JointType_HandRight].Position, &colorSpacePoint );  
  168.                                  if( SUCCEEDED( hResult ) ){  
  169.                                      int x = static_cast<int>( colorSpacePoint.X );  
  170.                                      int y = static_cast<int>( colorSpacePoint.Y );  
  171.                                      if( ( x >= 0 ) && ( x < width ) && ( y >= 0 ) && ( y < height ) ){  
  172.                                          if( rightHandState == HandState::HandState_Open ){  
  173.                                              cv::circle( bufferMat, cv::Point( x, y ), 75, cv::Scalar( 0, 128, 0 ), 5, CV_AA );  
  174.                                          }  
  175.                                          else if( rightHandState == HandState::HandState_Closed ){  
  176.                                              cv::circle( bufferMat, cv::Point( x, y ), 75, cv::Scalar( 0, 0, 128 ), 5, CV_AA );  
  177.                                          }  
  178.                                          else if( rightHandState == HandState::HandState_Lasso ){  
  179.                                              cv::circle( bufferMat, cv::Point( x, y ), 75, cv::Scalar( 128, 128, 0 ), 5, CV_AA );  
  180.                                          }  
  181.                                      }  
  182.                                  }  
  183.                              }  
  184.                                  CvPoint skeletonPoint[BODY_COUNT][JointType_Count]={cvPoint(0,0)};  
  185.                              // Joint  
  186.                              for( int type = 0; type < JointType::JointType_Count; type++ ){  
  187.                                  ColorSpacePoint colorSpacePoint = { 0 };  
  188.                                  pCoordinateMapper->MapCameraPointToColorSpace( joint[type].Position, &colorSpacePoint );  
  189.                                  int x = static_cast<int>( colorSpacePoint.X );  
  190.                                  int y = static_cast<int>( colorSpacePoint.Y );  
  191.                                  skeletonPoint[count][type].x = x;    
  192.                                  skeletonPoint[count][type].y = y;    
  193.                                  if( ( x >= 0 ) && ( x < width ) && ( y >= 0 ) && ( y < height ) ){  
  194.                                      cv::circle( bufferMat, cv::Point( x, y ), 5, static_cast< cv::Scalar >( color[count] ), -1, CV_AA );  
  195.                                  }  
  196.                              }  
  197.                              //画骨骼  
  198.                              drawSkeleton( bufferMat, skeletonPoint[count], joint,count);  
  199.                          }  
  200.                        
  201.                          //// Lean  
  202.                          //PointF amount;  
  203.                          //hResult = pBody[count]->get_Lean( &amount );  
  204.                          //if( SUCCEEDED( hResult ) ){  
  205.                          //  std::cout << "amount : " << amount.X << ", " << amount.Y << std::endl;  
  206.                          //}  
  207.                      }  
  208.                  }  
  209.                  cv::resize( bufferMat, bodyMat, cv::Size(), 0.5, 0.5 );  
  210.              }  
  211.              for( int count = 0; count < BODY_COUNT; count++ ){  
  212.                  SafeRelease( pBody[count] );  
  213.              }  
  214.          }  
  215.          SafeRelease( pColorFrame );  
  216.          SafeRelease( pBodyFrame );  
  217.            
  218.          waitKey(1);  
  219.          cv::imshow( "Body", bodyMat );  
  220.    
  221.      }  
  222.    
  223.    
  224.      SafeRelease( pColorSource );  
  225.      SafeRelease( pColorReader );  
  226.      SafeRelease( pDescription );  
  227.      SafeRelease(pBodySource);  
  228.      // done with body frame reader  
  229.      SafeRelease(pBodyReader);  
  230.    
  231.      SafeRelease( pDescription );  
  232.          // done with coordinate mapper  
  233.      SafeRelease(pCoordinateMapper);  
  234.    
  235.      if( pSensor ){  
  236.          pSensor->Close();  
  237.      }  
  238.      SafeRelease( pSensor );  
  239.    
  240.          return 0;  
  241.  }  
  242.    
  243.    
  244.  void DrawBone( Mat& SkeletonImage,  CvPoint pointSet[], const Joint* pJoints, int whichone, JointType joint0, JointType joint1)  
  245.  {  
  246.      TrackingState joint0State = pJoints[joint0].TrackingState;  
  247.      TrackingState joint1State = pJoints[joint1].TrackingState;  
  248.    
  249.      // If we can't find either of these joints, exit  
  250.      if ((joint0State == TrackingState_NotTracked) || (joint1State == TrackingState_NotTracked))  
  251.      {  
  252.          return;  
  253.      }  
  254.    
  255.      // Don't draw if both points are inferred  
  256.      if ((joint0State == TrackingState_Inferred) && (joint1State == TrackingState_Inferred))  
  257.      {  
  258.          return;  
  259.      }  
  260.    
  261.    
  262.          CvScalar color;     
  263.      switch(whichone) //跟踪不同的人显示不同的颜色     
  264.      {     
  265.      case 0:     
  266.          color = cvScalar(255);     
  267.          break;     
  268.      case 1:     
  269.          color = cvScalar(0,255);     
  270.          break;     
  271.      case 2:     
  272.          color = cvScalar(0, 0, 255);     
  273.          break;     
  274.      case 3:     
  275.          color = cvScalar(255, 255, 0);     
  276.          break;     
  277.      case 4:     
  278.          color = cvScalar(255, 0, 255);     
  279.          break;     
  280.      case 5:     
  281.          color = cvScalar(0, 255, 255);     
  282.          break;     
  283.      }    
  284.    
  285.    
  286.      // We assume all drawn bones are inferred unless BOTH joints are tracked  
  287.      if ((joint0State == TrackingState_Tracked) && (joint1State == TrackingState_Tracked))  
  288.      {  
  289.          line(SkeletonImage,pointSet[joint0], pointSet[joint1],  color, 2);  
  290.      }  
  291.      else  
  292.      {  
  293.          line(SkeletonImage,pointSet[joint0], pointSet[joint1],  color, 2);  
  294.      }  
  295.  }  
  296.    
  297.  void drawSkeleton( Mat& SkeletonImage,  CvPoint pointSet[],const Joint* pJoints, int whichone)     
  298.  {     
  299.     
  300.        // Draw the bones  
  301.    
  302.      // Torso  
  303.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_Head, JointType_Neck);  
  304.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_Neck, JointType_SpineShoulder);  
  305.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_SpineShoulder, JointType_SpineMid);  
  306.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_SpineMid, JointType_SpineBase);  
  307.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_SpineShoulder, JointType_ShoulderRight);  
  308.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_SpineShoulder, JointType_ShoulderLeft);  
  309.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_SpineBase, JointType_HipRight);  
  310.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_SpineBase, JointType_HipLeft);  
  311.        
  312.      // Right Arm      
  313.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_ShoulderRight, JointType_ElbowRight);  
  314.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_ElbowRight, JointType_WristRight);  
  315.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_WristRight, JointType_HandRight);  
  316.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_HandRight, JointType_HandTipRight);  
  317.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_WristRight, JointType_ThumbRight);  
  318.    
  319.      // Left Arm  
  320.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_ShoulderLeft, JointType_ElbowLeft);  
  321.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_ElbowLeft, JointType_WristLeft);  
  322.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_WristLeft, JointType_HandLeft);  
  323.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_HandLeft, JointType_HandTipLeft);  
  324.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_WristLeft, JointType_ThumbLeft);  
  325.    
  326.      // Right Leg  
  327.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_HipRight, JointType_KneeRight);  
  328.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_KneeRight, JointType_AnkleRight);  
  329.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_AnkleRight, JointType_FootRight);  
  330.    
  331.      // Left Leg  
  332.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_HipLeft, JointType_KneeLeft);  
  333.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_KneeLeft, JointType_AnkleLeft);  
  334.      DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_AnkleLeft, JointType_FootLeft);  
  335.  }    
 

 

 
代码注解：主要定义一个DrawBone()函数来画骨架，而骨骼点的画出用的OpenCV的circle()函数实现。 

 
 

 
 
 

 
 
 

 SDK自带的三种手势识别
 

 
 
 

 欢迎拍砖指正！

                

        

    


  



    



            

  



          




        



    





    



      

      

        
      

      





	

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