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p; Change := false;
for i := 0 to FeatureCount - 1 do begin
if Features[i].Index = 1 then
for j := i + 1 to FeatureCount - 1 do begin
Features[j - 1] := Features[j];
Change := true;
end;
if Change then break;
end;
if Change then Dec(FeatureCount);
until not Change; 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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