if export:
# Fps of output video should be same as input
fps = test_video.get(cv2.CAP_PROP_FPS)
out = cv2.VideoWriter('output_images/output.avi', cv2.VideoWriter_fourcc('M', 'J', 'P', 'G'), fps, (w, h))
while ret:
# Undistort image
undistorted = cv2.undistort(frame, intrinsic, dist)
# Feed it to the lane
lane.process(undistorted)
# Mask the undistorted frame with lane highlight
mask = lane.mask_frame(undistorted)
# Draw vehicle position indicator
mask = draw_car_and_lane(mask, lane.vehicle_center)
# Visualize and write to video as video writing is enabled
cv2.imshow("vid", mask)
if export:
out.write(mask)
key = cv2.waitKey(delay)
# Check for interrupts
if key == 27:
break
elif key == 32:
delay = 1 if delay == 0 else 0
