def main(args):
assert args.path_to_video is not None
KFilter = KalmanFilter(args.Q, args.R)
MAnly = MotionAnalyzer(args.path_to_video)
Vcorr = VideoCorrector(args.path_to_video)
Tx, Ty, _ = MAnly.process()
res_x, res_y = KFilter.filter(Tx), KFilter.filter(Ty)
delta_x = np.array(Tx) - np.array(res_x)
delta_y = np.array(Ty) - np.array(res_x)
Vcorr.correct(zip(delta_x, delta_y))
from MotionAnalyser import MotionAnalyzer
from utils import plot_Tx_Ty_Rot, plot_Tx_Ty
import numpy as np
from KalmanFilter import KalmanFilter
from VideoProcessor import VideoCorrector
KFilter = KalmanFilter()
MAnly = MotionAnalyzer('./output/IMG_1432_filted.mp4')
Vcorr = VideoCorrector('./output/IMG_1432_filted.mp4')
Tx, Ty, _ = MAnly.process()
# MAnly.save()
plot_Tx_Ty(Tx, Ty)
res_x, res_y = KFilter.filter(Tx), KFilter.filter(Ty)
plot_Tx_Ty(res_x, res_y)
delta_x = np.array(Tx) - np.array(res_x)
delta_y = np.array(Ty) - np.array(res_y)
Vcorr.correct(zip(delta_x, delta_y))
print('finish')
#print z_mw
#print("all valid: %d" % (z_all_valid))
#print z_all
#if not z_lw_valid and not z_mw_valid:
# print "Warning: invalid Z"
#print('z')
#print lw_z, mw_z
#break
#print xpred
#print Ppost
#print lw_z
xhat_lw[:,idx], Ppost_lw = \
kalman.filter(xpred_lw, Ppost_lw, z_lw, z_lw_valid)
xpred_lw = xhat_lw[:, idx]
xhat_mw[:,idx], Ppost_mw = \
kalman.filter(xpred_mw, Ppost_mw, z_mw, z_mw_valid)
xpred_mw = xhat_mw[:, idx]
xhat_all[:,idx], Ppost_all = \
kalman.filter(xpred_all, Ppost_all, z_all, z_all_valid)
xpred_all = xhat_all[:, idx]
#print xhat_lw[:,idx], xhat_mw[:,idx]
#rect = ((xpred[0] - xpred[4]*0.5, xpred[2] - xpred[5]*0.5), (xpred[4], xpred[5]), 0.0)
rect = ((xpred_all[0], xpred_all[2]), (xpred_all[4], xpred_all[5]),
0.0)
box = np.int0(cv2.boxPoints(rect))
