if len(sys.argv) == 4:
start = np.int_(sys.argv[2])
end = np.int_(sys.argv[3])
input_clip = VideoFileClip(fname).subclip(start, end)
else:
input_clip = VideoFileClip(fname)
output_file = output_video_location + "/" + fname
left_line = Line('left')
right_line = Line('right')
# Frame by frame visualization of lane line and road information
output_clip = input_clip.fl_image(image_to_lane_visualization)
# Write the output vide in a file
output_clip.write_videofile(output_file, audio=False)
# Main program -- DEBUG mode
if DEBUG:
# Go through the test files and output the intermediate pipeline steps into files
for file in test_files:
img = mpimg.imread(test_location + "/" + file)
undist = undistort(img, mtx, dist)
thresh = thresholding(undist)
warped = warp(thresh, M)
left_line = Line('left')
right_line = Line('right')
left_line.add_new_image(warped)
right_line.add_new_image(warped)
visualizer = RoadVisualizer([0, 255, 0], Minv)
visualizer.set_lane_lines(left_line, right_line)
final = visualizer.visualize(img)
mpimg.imsave(output_image_location + "/final_" + file, final)
