def __check_lane_quality(self, left, right):
if len(left[0]) < MIN_POINTS_REQUIRED or len(right[0]) < MIN_POINTS_REQUIRED:
return False
else:
new_left = Line(detected_y=left[0], detected_x=left[1])
new_right = Line(detected_y=right[0], detected_x=right[1])
parallel_check = new_left.check_lines_parallel(new_right, threshold=self.parallel_thresh)
dist = new_left.distance_between_lines(new_right)
dist_check = self.lane_dist_thresh[0] < dist < self.lane_dist_thresh[1]
return parallel_check & dist_check
