text: import ObjectDetection as od
  import importlib
  importlib.reload(od)
  import inspect
  import matplotlib.pyplot as plt
  import matplotlib.image as mpimg
  from sklearn.svm import LinearSVC
  
  from mpl_toolkits.mplot3d import Axes3D
  import numpy as np
  import cv2
  
  plt_img_width = 10
  plt_img_height = 8
  
  # Import everything needed to edit/save/watch video clips
  from moviepy.editor import VideoFileClip
  
  import ObjectDetection as od
  importlib.reload(od)
  import object_tracking as ot
  importlib.reload(ot)
  
  from scipy.ndimage.measurements import label
  
  import pickle
  
  # load a pe-trained svc model from a serialized (pickle) file
  #dist_pickle = pickle.load(open("models/udacity_pretrained_svc_pickle.p", "rb"))
  dist_pickle = pickle.load(open("models/car_detection_svc_model_large.p", "rb"))
  
  # get attributes of our svc object
  svcs = dist_pickle["svc"]
  X_scalers = dist_pickle["scaler"]
  orient = dist_pickle["orient"]
  pix_per_cell = dist_pickle["pix_per_cell"]
  cell_per_block = dist_pickle["cell_per_block"]
  hog_channel = dist_pickle["hog_channel"]
  spatial_size = dist_pickle["spatial_size"]
  hist_bins = dist_pickle["hist_bins"]
  color_space = dist_pickle["color_space"]
  extract_spatial_features = dist_pickle["extract_spatial_features"]
  extract_color_features = dist_pickle["extract_color_features"]
  extract_hog_features = dist_pickle["extract_hog_features"]
  
  #video_file_name = "test_video"
  video_file_name = "project_video"
  video_file_name_ext = ".mp4"
  output_video_file_name = "output_video/"+video_file_name + "_output" + video_file_name_ext
  video = VideoFileClip("test_video/" + video_file_name + video_file_name_ext)#.subclip(23,28)
  
  object_tracking = ot.ObjectTracking()
  
  output_video = video.fl_image(lambda image: ot.car_detection_pipeline(
      image=image,
      ystart=390, detection_window_size=64,
      scale_min=1.0, scale_max=4.0, steps=7,
      svcs=svcs, X_scalers=X_scalers,
      orient=orient,
      pix_per_cell=pix_per_cell, cell_per_block=cell_per_block,
      hog_channel=hog_channel,
      spatial_size=spatial_size, hist_bins=hist_bins,
      color_space=color_space,
      extract_spatial_features=extract_spatial_features,
      extract_color_features=extract_color_features,
      extract_hog_features=extract_hog_features,
      object_tracking=object_tracking
  ))
  
  # %time output_video.write_videofile(output_video_file_name, audio=False)
  output_video.write_videofile(output_video_file_name, audio=False)
  print("Done")