Merge branch '560-feature-implement-yolop-lane-detection-model' of ht…

…tps://github.com/una-auxme/paf into 560-feature-implement-yolop-lane-detection-model

doc/perception/Lanedetection_node.md

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+# Overview of the Lanedetection Node
+
+This Document gives a briev overview over the Lanedetection Node.
+The Lanedetection Node is responsible for detecting the Lane markings and driveable Area in a given Image and publish the results.
+
+---
+
+## Lanedetection Node System Diagram
+
+![Lanedetection Node System Diagram](../assets/perception/Overview_lanedetection_node.jpg)
+(link to lucid chart: [lucid chart](https://lucid.app/lucidchart/34e9aa95-5fb3-4d83-b53f-6d6a3f4748c2/edit?viewport_loc=5190%2C-3952%2C1690%2C703%2C0_0&invitationId=inv_83e27eed-e730-4607-836b-0e863cd2b511))
+
+## Inputs
+
+1. **Center/Image**  
+   - **Type**: Image Message (ImageMsg)  
+   - **Description**: Provides the center camera image.  
+
+2. **Center/dist_array**  
+   - **Type**: Distance Message (ImageMsg)
+   - **Description**: Contains distance data from Lidar mapped on the camera Image.
+
+---
+
+## **Processing Steps**
+
+ 1. **Image Handler**
+
+    - **Preprocessing**  
+        - *Description*: Preprocesses the camera image for the model.  
+    - **YOLOP-Model**  
+        - *Function*: Utilizes the YOLOP model to generate **Driveable Area** and **Lane Mask**.  
+        - **Outputs**:  
+            - Driveable Area  
+            - Lane Mask
+    - **Postprocessing**
+        - *Function*: Refines the Lane Mask for better visualization and integration with Lidar data.
+        - *Output*: Lane Mask
+    - **Map Lidar Points**
+        - *Function*: Marks Lidar points that collide with the Lane Mask
+        - *Output*: Lidar Points
+
+ 2. **Distance Handler**
+    - *Function*: Saves the Distance from the Distance Message.
+    - *Ouput*: Distance Array
+
+ 3. **Marker**
+    - *Function*: Marker Object that contains all settings for the highlighting of the Lidar Points.
+
+---
+
+## Outputs
+
+1. **driveable_area**  
+   - **Type**: Image Message (ImageMsg)  
+   - **Description**: Provides a Mask with 0 = not driveable and 1 = driveable.  
+
+2. **Lane_detection_mask**  
+   - **Type**: Image Message (ImageMsg)
+   - **Description**: Contains the mask for all detected lane markings.
+
+3. **visualization_marker_array_lane**
+    - **Type**: MarkerArray
+    - - **Description**: Contains all Lidar points that collide with the lane mask.