setlength(Features, FeatureCount);
  {删除失去的特征点}
  Speed := 0; Radio := 0; RadioX := 0; RadioY := 0;
  if FeatureCount > 0 then begin
    SupportCount := 0;
    for i := 0 to FeatureCount - 1 do
      if (Features[i].Vector.X <> 0) and (Features[i].Vector.Y <> 0) then begin
        RadioX := RadioX + Features[i].Vector.X;
        RadioY := RadioY + Features[i].Vector.Y;
        Speed := Speed + sqrt(sqr(Features[i].Vector.X) + sqr(Features[i].Vector.Y));
        Inc(SupportCount);
      end;
    if SupportCount > 0 then begin
      Speed := Speed / SupportCount; //*0.0352778;
      Radio := ArcTan2(RadioY, RadioX);
    end;
  end;
  {计算平均速度和整体方向}
  Frame.Canvas.Pen.Style := psSolid;
  Frame.Canvas.Pen.Width := 1;
  Frame.Canvas.Pen.Color := clLime;
  Frame.Canvas.Brush.Style := bsClear;
  for i := 0 to FeatureCount - 1 do
    Frame.Canvas.Ellipse(Features[i].Info.X - 4, Features[i].Info.Y - 4, Features[i].Info.X + 4, Features[i].Info.Y + 4);
  {用绿圈标识特征点}
  Frame.Canvas.Pen.Color := clYellow;
  for i := 0 to FeatureCount - 1 do begin
    Frame.Canvas.MoveTo(Features[i].Info.X - Features[i].Vector.X, Features[i].Info.Y - Features[i].Vector.Y);
    Frame.Canvas.LineTo(Features[i].Info.X, Features[i].Info.Y);
  end;
  {用黄色线条表示运动向量}
  if (SupportCount > 0) and (Speed > 3) then begin
    Frame.Canvas.Pen.Style := psSolid;
    Frame.Canvas.Pen.Width := 6;
    Frame.Canvas.Pen.Color := clWhite;
    Frame.Canvas.Ellipse(Width div 2 - 100, Height div 2 - 100, Width div 2 + 100, Height div 2 + 100);
    Frame.Canvas.MoveTo(Width div 2, Height div 2);
    Frame.Canvas.Pen.Color := clBlue;
    Frame.Canvas.LineTo(Width div 2 + trunc(90 * Cos(Radio)), Height div 2 + trunc(90 * Sin(Radio)));
    Frame.Canvas.Pen.Style := psClear;
    Frame.Canvas.Brush.Style := bsSolid;
    Frame.Canvas.Brush.Color := clRed;
    Frame.Canvas.Ellipse(Width div 2 + trunc(90 * Cos(Radio)) - 8, Height div 2 + trunc(90 * Sin(Radio)) - 8, Width div 2 + trunc(90 * Cos(Radio)) + 8, Height div 2 + trunc(90 * Sin(Radio)) + 8);
  end;
end;

destructor TOpticalFlowLK.Destroy;
begin
  setlength(ImageOld, 0);
  setlength(ImageNew, 0);
  setlength(ImageGray, 0);
  setlength(Eigenvalues, 0);
  setlength(dx, 0);
  setlength(dy, 0);
  setlength(dxy, 0);
  setlength(WBPoint, 0);
  inherited;
end;

end.

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