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

chameleon-server/src/test/java/com/chameleonvision/config/StaticCaptureTest.java

@@ -0,0 +1,66 @@
+package com.chameleonvision.config;
+
+import com.chameleonvision.util.ProgramDirectoryUtilities;
+import com.chameleonvision.vision.image.StaticImageCapture;
+import com.chameleonvision.vision.pipeline.CVPipeline2d;
+import edu.wpi.cscore.CameraServerCvJNI;
+import edu.wpi.cscore.CameraServerJNI;
+import org.junit.jupiter.api.Assertions;
+import org.junit.jupiter.api.BeforeAll;
+import org.junit.jupiter.api.Test;
+
+import java.io.File;
+import java.io.FilenameFilter;
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.nio.file.Paths;
+import java.util.ArrayList;
+import java.util.LinkedHashMap;
+import java.util.List;
+
+class StaticCaptureTest {
+
+    private static final List<String> allowedImageExtensions = List.of(".jpg", ".jpeg", ".png");
+
+    private static final FilenameFilter imageExtensionFilter = (dir, name) -> allowedImageExtensions.stream().anyMatch(name::endsWith);
+
+    private static final LinkedHashMap<String, StaticImageCapture> loadedImages = new LinkedHashMap<>();
+
+    @BeforeAll
+    static void setup() {
+        try {
+            CameraServerJNI.forceLoad();
+            CameraServerCvJNI.forceLoad();
+        } catch (IOException e) {
+            throw new RuntimeException("Failed to load JNI libraries!");
+        }
+    }
+
+    @Test
+    void ImageLoadTest() {
+        Path imagesFolder = Paths.get(ProgramDirectoryUtilities.getProgramDirectory(), "testimages", "2019");
+        if (Files.exists(imagesFolder)) {
+            File dir = new File(imagesFolder.toString());
+            File[] imageFiles = dir.listFiles(imageExtensionFilter);
+
+            Assertions.assertNotNull(imageFiles);
+
+            for (File imageFile : imageFiles) {
+                loadedImages.put(imageFile.getName().replace(".jpg", ""), new StaticImageCapture(imageFile.toPath(), 68.5));
+            }
+
+            Assertions.assertEquals(loadedImages.size(), imageFiles.length);
+        }
+    }
+
+    @Test
+    void ImageProcessTest() {
+        ImageLoadTest();
+        CVPipeline2d testPipeline = new CVPipeline2d();
+        String testImage1 = "CargoSideStraightDark36in";
+        StaticImageCapture testCapture1 = loadedImages.get(testImage1);
+
+        testPipeline.initPipeline(testCapture1);
+    }
+}