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How to find curved line in Lane Detect

Hello, there!

I am currently making a program that detects the lane from the image for studying. I succeeded in finding a straight line using the huff translation function(using openCV Lib). But, There was no processing for images with curved lanes. I searched for searching for the Curve in everywhere, but could not find any suitable data or samples.

If you have any sample code or data I can refer to, please let me know. Thx!