OMG SO MUCH CHANGES

- Filtering is much improved.
  -Now has proper initialisation based on position of first good detection
  -On no/bad detection the filter continues to predict using a constant
  velocity model
  -Made the proccess-noise convariance much smaller, effectively making
  the filter adapt more slowly
  -Filter graph can be togged with a const bool, also it measures and
  displays differently
- The video is now written to out.avi, this will contain the whole video
  if frames were modified the modified version is written
- Clean up of code for extraction/warping, unwarping, and combining
- Probably other random stuff I've forgotten