Attempt further memory fixes, begin unit tests, fix DriverMode rotation

chameleon-server/src/main/java/com/chameleonvision/vision/image/StaticImageCapture.java

@@ -1,5 +1,8 @@
 package com.chameleonvision.vision.image;
 
+import com.chameleonvision.vision.camera.CameraCapture;
+import com.chameleonvision.vision.camera.USBCaptureProperties;
+import edu.wpi.cscore.VideoMode;
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.Mat;
 import org.opencv.imgcodecs.Imgcodecs;
@@ -7,26 +10,67 @@ import org.opencv.imgcodecs.Imgcodecs;
 import java.nio.file.Files;
 import java.nio.file.Path;
 
-public class StaticImageCapture implements ImageCapture {
+public class StaticImageCapture implements CameraCapture {
 
-    private final Mat image = new Mat();
+    private Mat image = new Mat();
+    private final VideoMode fakeVideoMode;
+    private final com.chameleonvision.vision.image.CaptureProperties properties;
 
     public StaticImageCapture(Path imagePath) {
+        this(imagePath, 70);
+    }
+
+    public StaticImageCapture(Path imagePath, double FOV) {
         if (!Files.exists(imagePath)) throw new RuntimeException("Invalid path for image!");
 
-        Mat tempMat = new Mat();
-
-        try {
-            tempMat = Imgcodecs.imread(imagePath.toString());
-        } catch (Exception e) {
-            System.err.println("Failed to read image!");
-        } finally {
-            tempMat.copyTo(image);
+        Mat loadedImage = Imgcodecs.imread(imagePath.toString());
+        loadedImage.copyTo(image);
+        if (image.cols() > 0 && image.rows() > 0) {
+            fakeVideoMode = new VideoMode(VideoMode.PixelFormat.kBGR, image.cols(), image.rows(), 60);
+        } else {
+            throw new RuntimeException("Failed to load image!");
         }
+
+        properties = new com.chameleonvision.vision.image.CaptureProperties(fakeVideoMode, FOV);
     }
 
     @Override
     public Pair<Mat, Long> getFrame() {
         return Pair.of(image, System.nanoTime());
     }
+
+    @Override
+    public CaptureProperties getProperties() {
+        return properties;
+    }
+
+    @Override
+    public VideoMode getCurrentVideoMode() {
+        return fakeVideoMode;
+    }
+
+    @Override
+    public void setExposure(int exposure) {
+        // do nothing
+    }
+
+    @Override
+    public void setBrightness(int brightness) {
+        // do nothing
+    }
+
+    @Override
+    public void setVideoMode(VideoMode mode) {
+        // do nothing
+    }
+
+    @Override
+    public void setVideoMode(int index) {
+        // do nothing
+    }
+
+    @Override
+    public void setGain(int gain) {
+        // do nothing
+    }
 }