def _test_image(self, test_config, detection_mode):
test_image = Image.from_file(self.BASE_PATH + test_config['filename'])
local_world_map = LocalWorldMap()
if 'gripper_mock_location' in test_config:
local_world_map._gripper = Gripper(test_config['gripper_mock_location'])
detection_results = self._local_world_detector.detect_objects(test_image, detection_mode, local_world_map)
Logger.get_instance().log(self, "World Detection Test Results", log_entry_type = LogEntryType.INFORMATIONAL, details = "'{0}': {1}.".format(test_config['filename'], detection_results))
self._verify_results(test_config, detection_results)
