Projecting image lane information over PointCloud2

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I have a track like simulation in which the car should not move outside the boundaries (marked by lines). I plan to use the nav2 stack with a rolling empty costmap to perform GPS navigation over it. Is there a way to fuse lane information from an image (can be provided in a black and white or similar formats) over PointCloud2 data so that the lanes appear as walls in the PointCloud2 data which the car cannot drive through? Any information regarding this would be extremely appreciated