def lane_detection():
	pub = rospy.Publisher('lane_detection', Int32, queue_size=10) #ros-lane-detection
	rospy.init_node('lane-detection',anonymous=True)

	camera = PiCamera() # Raspberry Pi Camera
	camera.resolution = (350,200)
	camera.framerate = 30 #50
	camera.contrast = 40 #30
	camera.saturation = 100 #20
	camera.brightness = 30 #40
	camera.sharpness = 0
	camera.start_preview()
	time.sleep(1)
	rawCapture = PiRGBArray(camera)