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