def __are_lines_plausible(self, left, right): '''Determines if detected lane lines are plausible lines based on curvature and distance''' 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]) is_parallel = new_left.are_lines_parallel(new_right, threshold=PARALLEL_THRESH) dist = new_left.distance_between_lines(new_right) is_plausible_dist = DIST_THRESH[0] < dist < DIST_THRESH[1] return is_parallel & is_plausible_dist