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"""
Basic tests for lane detection functionality
"""
import numpy as np
import cv2
import sys
import os
# Add parent directory to path
sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
from lane_detection import region_of_interest, process_frame, process_video
def test_region_of_interest():
"""Test region of interest masking"""
print("Testing region_of_interest function...")
# Create a test image
img = np.ones((100, 100), dtype=np.uint8) * 255
# Define vertices
vertices = np.array([[(20, 100), (40, 50), (60, 50), (80, 100)]], dtype=np.int32)
# Apply ROI
result = region_of_interest(img, vertices)
# Check that result has correct shape
assert result.shape == img.shape, f"Expected shape {img.shape}, got {result.shape}"
# Check that areas outside ROI are masked (zero)
assert result[10, 10] == 0, "Pixels outside ROI should be 0"
print("✓ region_of_interest test passed")
def test_process_frame():
"""Test frame processing for lane detection"""
print("Testing process_frame function...")
# Create a test frame with simulated road
height, width = 480, 640
frame = np.zeros((height, width, 3), dtype=np.uint8)
# Draw white lines to simulate lanes
cv2.line(frame, (200, height), (280, int(height*0.6)), (255, 255, 255), 5)
cv2.line(frame, (440, height), (360, int(height*0.6)), (255, 255, 255), 5)
# Process the frame
result = process_frame(frame)
# Check that result has correct shape
assert result.shape == frame.shape, f"Expected shape {frame.shape}, got {result.shape}"
# Check that result is a valid image (not None and correct dtype)
assert result is not None, "Result should not be None"
assert result.dtype == np.uint8, "Result should be uint8 type"
print("✓ process_frame test passed")
def test_imports():
"""Test that all required modules can be imported"""
print("Testing imports...")
try:
import cv2
print("✓ opencv-python imported successfully")
except ImportError as e:
print(f"✗ Failed to import cv2: {e}")
return False
try:
import numpy
print("✓ numpy imported successfully")
except ImportError as e:
print(f"✗ Failed to import numpy: {e}")
return False
return True
def test_video_processing():
"""Test complete video processing"""
print("Testing video processing...")
from create_test_video import create_test_video
# Create test video
input_path = "/tmp/test_input.mp4"
output_path = "/tmp/test_output.mp4"
create_test_video(input_path, duration_sec=1, fps=10)
# Process video
success = process_video(input_path, output_path)
assert success, "Video processing should succeed"
assert os.path.exists(output_path), "Output file should exist"
assert os.path.getsize(output_path) > 0, "Output file should not be empty"
print("✓ video processing test passed")
if __name__ == "__main__":
print("Running lane detection tests...\n")
# Test imports
if not test_imports():
print("\nImport tests failed!")
sys.exit(1)
print()
# Test functions
try:
test_region_of_interest()
test_process_frame()
test_video_processing()
print("\n✅ All tests passed!")
except Exception as e:
print(f"\n❌ Test failed: {e}")
import traceback
traceback.print_exc()
sys.exit(1)
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