public void EdgeTrackingTest()
{
var drive = new Drive(Path.Combine(Dir.CarusoTestDirectory, Dir.EdgeTrackingDirectory), Drive.Reason.Read);
var image = new Bitmap(drive.Files("simple").First());
var left = EdgeDetector.EdgePoints(image, Direction.FromLeft);
Assert.IsTrue(left[0] == -1);
Assert.IsTrue(left[75] == 46);
Assert.IsTrue(left[363] == 46);
Assert.IsTrue(left[364] == 6);
Assert.IsTrue(left[405] == 6);
Assert.IsTrue(left[406] == 46);
Assert.IsTrue(left[424] == 46);
Assert.IsTrue(left[425] == -1);
Assert.IsTrue(left[499] == -1);
var right = EdgeDetector.EdgePoints(image, Direction.FromRight);
Assert.IsTrue(right[0] == -1);
Assert.IsTrue(right[75] == 154);
Assert.IsTrue(right[218] == 154);
Assert.IsTrue(right[219] == 188);
Assert.IsTrue(right[294] == 188);
Assert.IsTrue(right[295] == 154);
Assert.IsTrue(right[424] == 154);
Assert.IsTrue(right[425] == -1);
Assert.IsTrue(right[499] == -1);
}