KeyPoint functionality fixed - now all function a user would conceivable call(-ish) takes keypoint objects instead of [x, y] coordinates.  Function filter_matches is misbehaving....idk why.  Currently outlier detection only occurs when there is a reasonable number of points, and I try to find more points if there are no matches >_<
Running ok atm.  Now save the change of position between sequential frames in deltax
opencv's VideoWriter is currently not working.....really don't know why.  Dr. Socha wants me to do tracking by hand, so autotrack is done for now....