--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/python/compute-object-from-features.py	Wed Jul 13 19:14:17 2011 -0400
@@ -0,0 +1,48 @@
+#!/usr/bin/env python
+
+import sys
+
+import matplotlib.mlab as pylab
+import matplotlib.pyplot as plt
+import numpy as np
+
+import cv
+import utils
+import cvutils
+import ubc_utils
+import moving
+
+# use something like getopt to manage arguments if necessary
+
+if len(sys.argv) < 3:
+    print('Usage: {0} <video-filename> <n-objects>'.format(sys.argv[0]))
+    sys.exit()
+
+if sys.argv[1].endswith('.avi'):
+    videoFilenamePrefix = utils.removeExtension(sys.argv[1],'.')
+else:
+    videoFilenamePrefix = sys.argv[1]
+
+objectNum = int(sys.argv[2])
+
+objects = ubc_utils.loadTrajectories(videoFilenamePrefix+'-objects.txt', objectNum+1)
+obj = objects[objectNum]
+features = ubc_utils.loadTrajectories(videoFilenamePrefix+'-features.txt', max(obj.featureNumbers)+1)
+h = np.loadtxt(videoFilenamePrefix+'-homography.txt')
+
+invh = cvutils.invertHomography(h)
+
+yCoordinates = -np.ones((len(obj.featureNumbers),int(obj.length())))
+for i,fnum in enumerate(obj.featureNumbers):
+    traj = features[fnum].getPositions().asArray()
+    imgTraj = cvutils.projectArray(invh, traj)
+    yCoordinates[i,features[fnum].getFirstInstant()-obj.getFirstInstant():features[fnum].getLastInstant()+1-obj.getFirstInstant()] = imgTraj[1,:]
+
+indices = argmax(yCoordinates,0)
+newTraj = moving.Trajectory()
+for j,idx in enumerate(indices):
+    newTraj.addPosition(features[obj.featureNumbers[idx]].getPositionAtInstant(j+obj.getFirstInstant()))
+
+# TODO
+# use kalman filter over the resulting trajectory
+# estimate the error terms using actual features