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tests/test_curve_utils.py

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+import numpy as np
+
+from utils.curve import compute_letterbox, sample_lane_at_ys
+from utils.mask_to_lanes import mask_to_lanes
+
+
+def test_letterbox_roundtrip():
+    lb = compute_letterbox(src_w=1280, src_h=720, out_w=640, out_h=360)
+    pts = np.array([[100.0, 200.0], [1000.0, 500.0]], dtype=np.float32)
+    warped = lb.apply_points(pts)
+    restored = lb.invert_points(warped)
+    assert np.allclose(pts, restored, atol=1e-3)
+
+
+def test_letterbox_stays_in_bounds():
+    lb = compute_letterbox(src_w=1280, src_h=720, out_w=640, out_h=360)
+    corners = np.array([[0, 0], [1279, 719]], dtype=np.float32)
+    warped = lb.apply_points(corners)
+    assert (warped[:, 0] >= -1).all() and (warped[:, 0] <= 641).all()
+    assert (warped[:, 1] >= -1).all() and (warped[:, 1] <= 361).all()
+
+
+def test_sample_lane_at_ys_interpolates_and_masks():
+    lane = [(0.0, 0.0), (10.0, 1.0)]  # x = 10*y
+    sample_ys = np.array([0.0, 0.5, 1.0, 1.5], dtype=np.float32)
+    xs, valid = sample_lane_at_ys(lane, sample_ys)
+    assert valid.tolist() == [True, True, True, False]
+    assert np.allclose(xs[:3], [0.0, 5.0, 10.0], atol=1e-4)
+
+
+def test_mask_to_lanes_separates_instances():
+    mask = np.zeros((100, 200), dtype=np.uint8)
+    mask[:, 20:24] = 255   # vertical strip -> one lane instance
+    mask[:, 150:154] = 255  # another, far apart -> separate instance
+    lanes = mask_to_lanes(mask)
+    assert len(lanes) == 2
+    for lane in lanes:
+        assert len(lane) >= 5
+
+
+def test_mask_to_lanes_drops_small_noise_blobs():
+    mask = np.zeros((100, 200), dtype=np.uint8)
+    mask[10:12, 10:12] = 255  # tiny 2x2 JPEG-noise-like blob, below MIN_BLOB_AREA
+    lanes = mask_to_lanes(mask)
+    assert lanes == []