code: def load_annotation(self, line):
      infos = {}
      img_line = line[0]
      img_line = img_line[1 if img_line[0] == "/" else 0 : :]
      img_path = os.path.join(self.dataset_dir, img_line)
      infos["img_name"] = img_line
      infos["img_path"] = img_path
      if len(line) > 1:
          mask_line = line[1]
          mask_line = mask_line[1 if mask_line[0] == "/" else 0 : :]
          mask_path = os.path.join(self.dataset_dir, mask_line)
          infos["mask_path"] = mask_path
  
      if len(line) > 2:
          exist_list = [int(l) for l in line[2:]]
          infos["lane_exist"] = np.array(exist_list)
  
      anno_path = (
          img_path[:-3] + "lines.txt"
      )  # remove sufix jpg and add lines.txt
      with open(anno_path, "r") as anno_file:
          data = [
              list(map(float, line.split()))
              for line in anno_file.readlines()
          ]
      lanes = [
          [
              (lane[i], lane[i + 1])
              for i in range(0, len(lane), 2)
              if lane[i] >= 0 and lane[i + 1] >= 0
          ]
          for lane in data
      ]
      lanes = [
          list(set(lane)) for lane in lanes
      ]  # remove duplicated points
      lanes = [
          lane for lane in lanes if len(lane) > 2
      ]  # remove lanes with less than 2 points
  
      lanes = [
          sorted(lane, key=lambda x: x[1]) for lane in lanes
      ]  # sort by y
      infos["lanes"] = lanes
  
      return infos
  
imports: from ppdet.core.workspace import register, serializable
  import cv2
  import os
  import tarfile
  import numpy
  import os.path
  from ppdet.data.source.dataset import DetDataset
  from imgaug.augmentables.lines import LineStringsOnImage
  from imgaug.augmentables.segmaps import SegmentationMapsOnImage
  from ppdet.data.culane_utils import lane_to_linestrings
  import pickle
  from ppdet.utils.logger import setup_logger
  from .dataset import DetDataset, _make_dataset, _is_valid_file
  from ppdet.utils.download import download_dataset
label_desc: Use image node_id 5 for calling the CULaneDataSet obj's underlying member method code with example usage: obj.load_annotation(line) and returns: infos