Algorithmix.UnitTest.EdgeDetectorTest.EdgeTrackingTest C# (CSharp) Method

        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);
        }