# #sdfFile.addRoadDebug([xData[0], yData[0], 0], road)
# if len(xData) == 2:
# sdfFile.addRoadPoint([xData[1], yData[1], 0], road)
# #sdfFile.addRoadDebug([xData[1], yData[1], 0], road)
roadLaneSegments.append([lanePoint, lanePoint])
centerLaneSegments.append([x,y])
else:
x, y = catmull_rom(xData, yData, 10)
centerLaneSegments.append([x, y])
lanes = LaneBoundaries(x,y)
# [lanePointsA, lanePointsB] = lanes.createLanes(6)
# roadLaneSegments.append([lanePointsA, lanePointsB])
# xPointsA = []
# yPointsA = []
# xPointsB = []
# yPointsB = []
# for i in range(len(lanePointsA)/2):
# xPointsA.append(lanePointsA[i*2][0])
# yPointsA.append(lanePointsA[i*2][1])
# #sdfFile.addLeftLaneDebug([lanePointsA[i*2][0], lanePointsA[i*2][1], 0], road)
# #sdfFile.addRoadDebug([xData[0], yData[0], 0], road)
# if len(xData) == 2:
# sdfFile.addRoadPoint([xData[1], yData[1], 0], road)
# #sdfFile.addRoadDebug([xData[1], yData[1], 0], road)
roadLaneSegments.append([lanePoint, lanePoint])
centerLaneSegments.append([x,y])
else:
x, y = catmull_rom(xData, yData, 10)
centerLaneSegments.append([x, y])
lanes = LaneBoundaries(x,y)
[lanePointsA, lanePointsB] = lanes.createLanes(6)
roadLaneSegments.append([lanePointsA, lanePointsB])
xPointsA = []
yPointsA = []
xPointsB = []
yPointsB = []
for i in range(len(lanePointsA)/2):
xPointsA.append(lanePointsA[i*2][0])
yPointsA.append(lanePointsA[i*2][1])
#sdfFile.addLeftLaneDebug([lanePointsA[i*2][0], lanePointsA[i*2][1], 0], road)
# #sdfFile.addRoadDebug([xData[0], yData[0], 0], road)
# if len(xData) == 2:
# sdfFile.addRoadPoint([xData[1], yData[1], 0], road)
# #sdfFile.addRoadDebug([xData[1], yData[1], 0], road)
roadLaneSegments.append([lanePoint, lanePoint])
centerLaneSegments.append([x,y])
else:
x, y = catmull_rom(xData, yData, 10)
centerLaneSegments.append([x, y])
lanes = LaneBoundaries(x,y)
# [lanePointsA, lanePointsB] = lanes.createLanes(6)
# roadLaneSegments.append([lanePointsA, lanePointsB])
# xPointsA = []
# yPointsA = []
# xPointsB = []
# yPointsB = []
# for i in range(len(lanePointsA)/2):
# xPointsA.append(lanePointsA[i*2][0])
# yPointsA.append(lanePointsA[i*2][1])
# #sdfFile.addLeftLaneDebug([lanePointsA[i*2][0], lanePointsA[i*2][1], 0], road)