diff --git a/PythonAPI/no_rendering_mode.py b/PythonAPI/no_rendering_mode.py
index 46060d98e..57fce1f1a 100755
--- a/PythonAPI/no_rendering_mode.py
+++ b/PythonAPI/no_rendering_mode.py
@@ -443,7 +443,8 @@ class MapImage(object):
 
         def draw_lane_marking(surface, points, solid=True):
             if solid:
-                pygame.draw.lines(surface, COLOR_ORANGE_0, False, points, 2)
+                if len(points) > 1:
+                    pygame.draw.lines(surface, COLOR_ORANGE_0, False, points, 2)
             else:
                 broken_lines = [x for n, x in enumerate(zip(*(iter(points),) * 20)) if n % 3 == 0]
                 for line in broken_lines:
@@ -493,43 +494,55 @@ class MapImage(object):
 
         def does_cross_solid_line(waypoint, shift):
             w = carla_map.get_waypoint(lateral_shift(waypoint.transform, shift), project_to_road=False)
-            if w is None or w.road_id != waypoint.road_id:
+            if w is None or w.lane_change == carla.LaneChange.None or w.road_id != waypoint.road_id:
                 return True
             else:
                 return (w.lane_id * waypoint.lane_id < 0) or w.lane_id == waypoint.lane_id
 
-        topology = [x[0] for x in carla_map.get_topology()]
-        topology = sorted(topology, key=lambda w: w.transform.location.z)
+        def draw_topology (carla_topology, index):
+            topology = [x[index] for x in carla_topology]
+            topology = sorted(topology, key=lambda w: w.transform.location.z)
+            for waypoint in topology:
+                waypoints = [waypoint]
 
-        for waypoint in topology:
-            waypoints = [waypoint]
-            nxt = waypoint.next(precision)[0]
-            while nxt.road_id == waypoint.road_id:
-                waypoints.append(nxt)
-                nxt = nxt.next(precision)[0]
+                nxt = waypoint.next(precision)
+                if len(nxt) > 0:
+                    nxt = nxt[0]
+                    while nxt.road_id == waypoint.road_id:
+                        waypoints.append(nxt)
+                        nxt = nxt.next(precision)
+                        if len(nxt) > 0:
+                            nxt = nxt[0]
+                        else:
+                            break
 
-            left_marking = [lateral_shift(w.transform, -w.lane_width * 0.5) for w in waypoints]
-            right_marking = [lateral_shift(w.transform, w.lane_width * 0.5) for w in waypoints]
+                left_marking = [lateral_shift(w.transform, -w.lane_width * 0.5) for w in waypoints]
+                right_marking = [lateral_shift(w.transform, w.lane_width * 0.5) for w in waypoints]
 
-            polygon = left_marking + [x for x in reversed(right_marking)]
-            polygon = [world_to_pixel(x) for x in polygon]
+                polygon = left_marking + [x for x in reversed(right_marking)]
+                polygon = [world_to_pixel(x) for x in polygon]
 
-            pygame.draw.polygon(map_surface, COLOR_ALUMINIUM_5, polygon, 10)
-            pygame.draw.polygon(map_surface, COLOR_ALUMINIUM_5, polygon)
+                if len(polygon) > 2:
+                    pygame.draw.polygon(map_surface, COLOR_ALUMINIUM_5, polygon, 10)
+                    pygame.draw.polygon(map_surface, COLOR_ALUMINIUM_5, polygon)
 
-            if not waypoint.is_intersection:
-                sample = waypoints[int(len(waypoints) / 2)]
-                draw_lane_marking(
-                    map_surface,
-                    [world_to_pixel(x) for x in left_marking],
-                    does_cross_solid_line(sample, -sample.lane_width * 1.1))
-                draw_lane_marking(
-                    map_surface,
-                    [world_to_pixel(x) for x in right_marking],
-                    does_cross_solid_line(sample, sample.lane_width * 1.1))
-                for n, wp in enumerate(waypoints):
-                    if (n % 400) == 0:
-                        draw_arrow(map_surface, wp.transform)
+                if not waypoint.is_intersection:
+                    sample = waypoints[int(len(waypoints) / 2)]
+                    draw_lane_marking(
+                        map_surface,
+                        [world_to_pixel(x) for x in left_marking],
+                        does_cross_solid_line(sample, -sample.lane_width * 1.2))
+                    draw_lane_marking(
+                        map_surface,
+                        [world_to_pixel(x) for x in right_marking],
+                        does_cross_solid_line(sample, sample.lane_width * 1.2))
+                    for n, wp in enumerate(waypoints):
+                        if (n % 400) == 0:
+                            draw_arrow(map_surface, wp.transform)
+
+        topology = carla_map.get_topology()
+        draw_topology(topology, 0)
+        draw_topology(topology, 1)
 
         actors = carla_world.get_actors()
         stops_transform = [actor.get_transform() for actor in actors if 'stop' in actor.type_id]