#!/usr/bin/env python3
"""Test camera processing."""

import pytest
import numpy as np
import cv2


def test_image_processing():
    img = np.random.randint(0, 255, (480, 640, 3), dtype=np.uint8)
    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
    assert gray.shape == (480, 640)


def test_clahe():
    gray = np.random.randint(0, 255, (480, 640), dtype=np.uint8)
    clahe = cv2.createCLAHE(clipLimit=2.0, tileGridSize=(8, 8))
    enhanced = clahe.apply(gray)
    assert enhanced.shape == gray.shape


def test_undistort_maps():
    K = np.array([[500, 0, 320], [0, 500, 240], [0, 0, 1]], dtype=np.float64)
    dist = np.zeros(5)
    size = (640, 480)
    
    new_K, roi = cv2.getOptimalNewCameraMatrix(K, dist, size, alpha=0)
    map1, map2 = cv2.initUndistortRectifyMap(K, dist, None, new_K, size, cv2.CV_16SC2)
    
    assert map1 is not None
    assert map2 is not None


if __name__ == '__main__':
    pytest.main([__file__, '-v'])