def __init__(self):
args = parse_args(sys.argv[1], sys.argv[2])
planar = glob.glob(sys.argv[1] + '/*_planar.npz')[0]
npz = np.load(planar)
self.planes = npz['planes']
(self.imu_transforms_mk1, self.gps_data_mk1,
self.gps_times_mk1) = get_transforms(args, 'mark1')
(self.imu_transforms_mk2, self.gps_data_mk2,
self.gps_times_mk2) = get_transforms(args, 'mark2')
self.back_projector = BackProjector(args)
self.vr = VideoReader(args['video'])
self.t = 1
cv2.namedWindow('image', cv2.WINDOW_AUTOSIZE)
cv2.setMouseCallback('image', self.mouseHandler)
self.lanes = None
self.markings = None
