/*
* Copyright (C) 2009-2016 Samuel Audet
*
* Licensed either under the Apache License, Version 2.0, or (at your option)
* under the terms of the GNU General Public License as published by
* the Free Software Foundation (subject to the "Classpath" exception),
* either version 2, or any later version (collectively, the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
* http://www.gnu.org/licenses/
* http://www.gnu.org/software/classpath/license.html
*
* or as provided in the LICENSE.txt file that accompanied this code.
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package org.bytedeco.javacv;
import java.io.File;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import java.nio.ShortBuffer;
import org.bytedeco.javacpp.BytePointer;
import org.bytedeco.javacpp.Loader;
import static org.bytedeco.javacpp.dc1394.*;
import static org.bytedeco.javacpp.opencv_core.*;
import static org.bytedeco.javacpp.opencv_imgproc.*;
/**
*
* @author Samuel Audet
*/
public class DC1394FrameGrabber extends FrameGrabber {
public static String[] getDeviceDescriptions() throws Exception {
tryLoad();
dc1394_t d = dc1394_new();
if (d == null) {
throw new Exception("dc1394_new() Error: Failed to initialize libdc1394.");
}
dc1394camera_list_t list = new dc1394camera_list_t(null);
int err = dc1394_camera_enumerate(d, list);
if (err != DC1394_SUCCESS) {
throw new Exception("dc1394_camera_enumerate() Error " + err + ": Failed to enumerate cameras.");
}
int num = list.num();
String[] descriptions = new String[num];
if (num > 0) {
dc1394camera_id_t ids = list.ids();
for (int i = 0; i < num; i ++) {
ids.position(i);
dc1394camera_t camera = dc1394_camera_new_unit(d, ids.guid(), ids.unit());
if (camera == null) {
throw new Exception("dc1394_camera_new_unit() Error: Failed to initialize camera with GUID 0x" +
Long.toHexString(ids.guid())+ " / " + camera.unit() + ".");
}
descriptions[i] = camera.vendor().getString() + " " + camera.model().getString() + " 0x" +
Long.toHexString(camera.guid()) + " / " + camera.unit();
dc1394_camera_free(camera);
}
}
dc1394_camera_free_list(list);
dc1394_free(d);
return descriptions;
}
public static DC1394FrameGrabber createDefault(File deviceFile) throws Exception { throw new Exception(DC1394FrameGrabber.class + " does not support device files."); }
public static DC1394FrameGrabber createDefault(String devicePath) throws Exception { throw new Exception(DC1394FrameGrabber.class + " does not support device paths."); }
public static DC1394FrameGrabber createDefault(int deviceNumber) throws Exception { return new DC1394FrameGrabber(deviceNumber); }
private static Exception loadingException = null;
public static void tryLoad() throws Exception {
if (loadingException != null) {
throw loadingException;
} else {
try {
Loader.load(org.bytedeco.javacpp.dc1394.class);
} catch (Throwable t) {
throw loadingException = new Exception("Failed to load " + DC1394FrameGrabber.class, t);
}
}
}
public DC1394FrameGrabber(int deviceNumber) throws Exception {
d = dc1394_new();
dc1394camera_list_t list = new dc1394camera_list_t(null);
int err = dc1394_camera_enumerate (d, list);
if (err != DC1394_SUCCESS) {
throw new Exception("dc1394_camera_enumerate() Error " + err + ": Failed to enumerate cameras.");
}
int num = list.num();
if (num <= deviceNumber) {
throw new Exception("DC1394Grabber() Error: Camera number " + deviceNumber +
" not found. There are only " + num + " devices.");
}
dc1394camera_id_t ids = list.ids().position(deviceNumber);
camera = dc1394_camera_new_unit(d, ids.guid(), ids.unit());
if (camera == null) {
throw new Exception("dc1394_camera_new_unit() Error: Failed to initialize camera with GUID 0x" +
Long.toHexString(ids.guid())+ " / " + camera.unit() + ".");
}
dc1394_camera_free_list(list);
//System.out.println("Using camera with GUID 0x" + Long.toHexString(camera.guid) + " / " + camera.unit);
}
public void release() throws Exception {
if (camera != null) {
stop();
dc1394_camera_free(camera);
camera = null;
}
if (d != null) {
dc1394_free(d);
d = null;
}
}
@Override protected void finalize() throws Throwable {
super.finalize();
release();
}
private static final boolean linux = Loader.getPlatform().startsWith("linux");
private dc1394_t d = null;
private dc1394camera_t camera = null;
private pollfd fds = linux ? new pollfd() : null;
private boolean oneShotMode = false;
private boolean resetDone = false;
private dc1394video_frame_t[] raw_image =
{ new dc1394video_frame_t(null), new dc1394video_frame_t(null) };
private dc1394video_frame_t conv_image = new dc1394video_frame_t();
private dc1394video_frame_t frame = null;
private dc1394video_frame_t enqueue_image = null;
private IplImage temp_image, return_image = null;
private FrameConverter converter = new OpenCVFrameConverter.ToIplImage();
private final int[] out = new int[1];
private final float[] outFloat = new float[1];
private final float[] gammaOut = new float[1];
@Override public double getGamma() {
return Float.isNaN(gammaOut[0]) || Float.isInfinite(gammaOut[0]) || gammaOut[0] == 0.0f ? 2.2 : gammaOut[0];
}
@Override public int getImageWidth() {
return return_image == null ? super.getImageWidth() : return_image.width();
}
@Override public int getImageHeight() {
return return_image == null ? super.getImageHeight() : return_image.height();
}
@Override public double getFrameRate() {
if (camera == null) {
return super.getFrameRate();
} else {
if (dc1394_feature_get_absolute_value(camera,
DC1394_FEATURE_FRAME_RATE, outFloat) != DC1394_SUCCESS) {
dc1394_video_get_framerate(camera, out);
dc1394_framerate_as_float(out[0], outFloat);
}
return outFloat[0];
}
}
@Override public void setImageMode(ImageMode imageMode) {
if (imageMode != this.imageMode) {
temp_image = null;
return_image = null;
}
super.setImageMode(imageMode);
}
public void start() throws Exception {
start(true, true);
}
public void start(boolean tryReset, boolean try1394b) throws Exception {
int c = -1;
if (imageMode == ImageMode.COLOR || imageMode == ImageMode.RAW) {
if (imageWidth <= 0 || imageHeight <= 0) {
c = -1;
} else if (imageWidth <= 640 && imageHeight <= 480) {
c = DC1394_VIDEO_MODE_640x480_RGB8;
} else if (imageWidth <= 800 && imageHeight <= 600) {
c = DC1394_VIDEO_MODE_800x600_RGB8;
} else if (imageWidth <= 1024 && imageHeight <= 768) {
c = DC1394_VIDEO_MODE_1024x768_RGB8;
} else if (imageWidth <= 1280 && imageHeight <= 960) {
c = DC1394_VIDEO_MODE_1280x960_RGB8;
} else if (imageWidth <= 1600 && imageHeight <= 1200) {
c = DC1394_VIDEO_MODE_1600x1200_RGB8;
}
} else if (imageMode == ImageMode.GRAY) {
if (imageWidth <= 0 || imageHeight <= 0) {
c = -1;
} else if (imageWidth <= 640 && imageHeight <= 480) {
c = bpp > 8 ? DC1394_VIDEO_MODE_640x480_MONO16 : DC1394_VIDEO_MODE_640x480_MONO8;
} else if (imageWidth <= 800 && imageHeight <= 600) {
c = bpp > 8 ? DC1394_VIDEO_MODE_800x600_MONO16 : DC1394_VIDEO_MODE_800x600_MONO8;
} else if (imageWidth <= 1024 && imageHeight <= 768) {
c = bpp > 8 ? DC1394_VIDEO_MODE_1024x768_MONO16 : DC1394_VIDEO_MODE_1024x768_MONO8;
} else if (imageWidth <= 1280 && imageHeight <= 960) {
c = bpp > 8 ? DC1394_VIDEO_MODE_1280x960_MONO16 : DC1394_VIDEO_MODE_1280x960_MONO8;
} else if (imageWidth <= 1600 && imageHeight <= 1200) {
c = bpp > 8 ? DC1394_VIDEO_MODE_1600x1200_MONO16 : DC1394_VIDEO_MODE_1600x1200_MONO8;
}
}
if (c == -1) {
// otherwise, still need to set current video mode to kick start the ISO channel...
dc1394_video_get_mode(camera, out);
c = out[0];
}
int f = -1;
if (frameRate <= 0) {
f = -1;
} else if (frameRate <= 1.876) {
f = DC1394_FRAMERATE_1_875;
} else if (frameRate <= 3.76) {
f = DC1394_FRAMERATE_3_75;
} else if (frameRate <= 7.51) {
f = DC1394_FRAMERATE_7_5;
} else if (frameRate <= 15.01) {
f = DC1394_FRAMERATE_15;
} else if (frameRate <= 30.01) {
f = DC1394_FRAMERATE_30;
} else if (frameRate <= 60.01) {
f = DC1394_FRAMERATE_60;
} else if (frameRate <= 120.01) {
f = DC1394_FRAMERATE_120;
} else if (frameRate <= 240.01) {
f = DC1394_FRAMERATE_240;
}
if (f == -1) {
// otherwise, still need to set current framerate to kick start the ISO channel...
dc1394_video_get_framerate(camera, out);
f = out[0];
}
try {
oneShotMode = false;
if (triggerMode) {
int err = dc1394_external_trigger_set_power(camera, DC1394_ON);
if (err != DC1394_SUCCESS) {
// no trigger support, use one-shot mode instead
oneShotMode = true;
} else {
err = dc1394_external_trigger_set_mode(camera, DC1394_TRIGGER_MODE_14);
if (err != DC1394_SUCCESS) {
// try with trigger mode 0 instead
err = dc1394_external_trigger_set_mode(camera, DC1394_TRIGGER_MODE_0);
}
err = dc1394_external_trigger_set_source(camera, DC1394_TRIGGER_SOURCE_SOFTWARE);
if (err != DC1394_SUCCESS) {
// no support for software trigger, use one-shot mode instead
oneShotMode = true;
dc1394_external_trigger_set_power(camera, DC1394_OFF);
}
}
}
int err = dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_LEGACY);
if (try1394b) {
err = dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_1394B);
if (err == DC1394_SUCCESS) {
err = dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_800);
}
}
if (err != DC1394_SUCCESS || !try1394b) {
err = dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);
if (err != DC1394_SUCCESS) {
throw new Exception("dc1394_video_set_iso_speed() Error " + err + ": Could not set maximum iso speed.");
}
}
err = dc1394_video_set_mode(camera, c);
if (err != DC1394_SUCCESS) {
throw new Exception("dc1394_video_set_mode() Error " + err + ": Could not set video mode.");
}
if (dc1394_is_video_mode_scalable(c) == DC1394_TRUE) {
err = dc1394_format7_set_roi(camera, c,
DC1394_QUERY_FROM_CAMERA, DC1394_QUERY_FROM_CAMERA,
DC1394_QUERY_FROM_CAMERA, DC1394_QUERY_FROM_CAMERA,
DC1394_QUERY_FROM_CAMERA, DC1394_QUERY_FROM_CAMERA);
if (err != DC1394_SUCCESS) {
throw new Exception("dc1394_format7_set_roi() Error " + err + ": Could not set format7 mode.");
}
} else {
err = dc1394_video_set_framerate(camera, f);
if (err != DC1394_SUCCESS) {
throw new Exception("dc1394_video_set_framerate() Error " + err + ": Could not set framerate.");
}
}
err = dc1394_capture_setup(camera, numBuffers, DC1394_CAPTURE_FLAGS_DEFAULT);
if (err != DC1394_SUCCESS) {
throw new Exception("dc1394_capture_setup() Error " + err + ": Could not setup camera-\n" +
"make sure that the video mode and framerate are\nsupported by your camera.");
}
if (gamma != 0.0) {
err = dc1394_feature_set_absolute_value(camera, DC1394_FEATURE_GAMMA, (float)gamma);
if (err != DC1394_SUCCESS) {
throw new Exception("dc1394_feature_set_absolute_value() Error " + err + ": Could not set gamma.");
}
}
err = dc1394_feature_get_absolute_value(camera, DC1394_FEATURE_GAMMA, gammaOut);
if (err != DC1394_SUCCESS) {
gammaOut[0] = 2.2f;
}
if (linux) {
fds.fd(dc1394_capture_get_fileno(camera));
}
if (!oneShotMode) {
err = dc1394_video_set_transmission(camera, DC1394_ON);
if (err != DC1394_SUCCESS) {
throw new Exception("dc1394_video_set_transmission() Error " + err + ": Could not start camera iso transmission.");
}
}
} catch (Exception e) {
// if we couldn't start, try again with a bus reset
if (tryReset && !resetDone) {
try {
dc1394_reset_bus(camera);
Thread.sleep(100);
resetDone = true;
start(false, try1394b);
} catch (InterruptedException ex) {
// reset interrupt to be nice
Thread.currentThread().interrupt();
throw new Exception("dc1394_reset_bus() Error: Could not reset bus and try to start again.", ex);
}
} else {
throw e;
}
} finally {
resetDone = false;
}
if (linux && try1394b) {
if (triggerMode) {
trigger();
}
fds.events(POLLIN);
if (poll(fds, 1, timeout) == 0) {
// we are obviously not getting anything..
// try again without 1394b
stop();
start(tryReset, false);
} else if (triggerMode) {
grab();
enqueue();
}
}
}
public void stop() throws Exception {
enqueue_image = null;
temp_image = null;
return_image = null;
timestamp = 0;
frameNumber = 0;
int err = dc1394_video_set_transmission(camera, DC1394_OFF);
if (err != DC1394_SUCCESS) {
throw new Exception("dc1394_video_set_transmission() Error " + err + ": Could not stop the camera?");
}
err = dc1394_capture_stop(camera);
if (err != DC1394_SUCCESS && err != DC1394_CAPTURE_IS_NOT_SET) {
throw new Exception("dc1394_capture_stop() Error " + err + ": Could not stop the camera?");
}
err = dc1394_external_trigger_get_mode(camera, out);
if (err == DC1394_SUCCESS && out[0] >= DC1394_TRIGGER_MODE_0) {
err = dc1394_external_trigger_set_power(camera, DC1394_OFF);
if (err != DC1394_SUCCESS) {
throw new Exception("dc1394_external_trigger_set_power() Error " + err + ": Could not switch off external trigger.");
}
}
}
private void enqueue() throws Exception {
enqueue(enqueue_image);
enqueue_image = null;
}
private void enqueue(dc1394video_frame_t image) throws Exception {
if (image != null) {
int err = dc1394_capture_enqueue(camera, image);
if (err != DC1394_SUCCESS) {
throw new Exception("dc1394_capture_enqueue() Error " + err + ": Could not release a frame.");
}
}
}
public void trigger() throws Exception {
enqueue();
if (oneShotMode) {
int err = dc1394_video_set_one_shot(camera, DC1394_ON);
if (err != DC1394_SUCCESS) {
throw new Exception("dc1394_video_set_one_shot() Error " + err + ": Could not set camera into one-shot mode.");
}
} else {
long time = System.currentTimeMillis();
do {
dc1394_software_trigger_get_power(camera, out);
if (System.currentTimeMillis() - time > timeout) {
break;
//throw new Exception("trigger() Error: Timeout occured.");
}
} while (out[0] == DC1394_ON);
int err = dc1394_software_trigger_set_power(camera, DC1394_ON);
if (err != DC1394_SUCCESS) {
throw new Exception("dc1394_software_trigger_set_power() Error " + err + ": Could not trigger camera.");
}
}
}
public Frame grab() throws Exception {
enqueue();
if (linux) {
fds.events(POLLIN);
if (poll(fds, 1, timeout) == 0) {
throw new Exception("poll() Error: Timeout occured. (Has start() been called?)");
}
}
int i = 0;
int err = dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, raw_image[i]);
if (err != DC1394_SUCCESS) {
throw new Exception("dc1394_capture_dequeue(WAIT) Error " + err + ": Could not capture a frame. (Has start() been called?)");
}
// try to poll for more images, to get the most recent one...
int numDequeued = 0;
while (!raw_image[i].isNull()) {
enqueue();
enqueue_image = raw_image[i];
i = (i+1)%2;
numDequeued++;
err = dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_POLL, raw_image[i]);
if (err != DC1394_SUCCESS) {
throw new Exception("dc1394_capture_dequeue(POLL) Error " + err + ": Could not capture a frame.");
}
}
frame = raw_image[(i+1)%2];
int w = frame.size(0);
int h = frame.size(1);
int depth = frame.data_depth();
int iplDepth = 0;
switch (depth) {
case 8: iplDepth = IPL_DEPTH_8U; break;
case 16: iplDepth = IPL_DEPTH_16U; break;
default: assert false;
}
int stride = frame.stride();
int size = frame.image_bytes();
int numChannels = stride/w*8/depth;
ByteOrder frameEndian = frame.little_endian() != 0 ?
ByteOrder.LITTLE_ENDIAN : ByteOrder.BIG_ENDIAN;
boolean alreadySwapped = false;
int color_coding = frame.color_coding();
boolean colorbayer = color_coding == DC1394_COLOR_CODING_RAW8 ||
color_coding == DC1394_COLOR_CODING_RAW16;
boolean colorrgb = color_coding == DC1394_COLOR_CODING_RGB8 ||
color_coding == DC1394_COLOR_CODING_RGB16;
boolean coloryuv = color_coding == DC1394_COLOR_CODING_YUV411 ||
color_coding == DC1394_COLOR_CODING_YUV422 ||
color_coding == DC1394_COLOR_CODING_YUV444;
BytePointer imageData = frame.image();
if ((depth <= 8 || frameEndian.equals(ByteOrder.nativeOrder())) && !coloryuv &&
(imageMode == ImageMode.RAW || (imageMode == ImageMode.COLOR && numChannels == 3) ||
(imageMode == ImageMode.GRAY && numChannels == 1 && !colorbayer))) {
if (return_image == null) {
return_image = IplImage.createHeader(w, h, iplDepth, numChannels);
}
return_image.widthStep(stride);
return_image.imageSize(size);
return_image.imageData(imageData);
} else {
// in the padding, there's sometimes timeframe information and stuff
// that libdc1394 will copy for us, so we need to allocate it
int padding_bytes = frame.padding_bytes();
int padding1 = (int)Math.ceil((double)padding_bytes/(w * depth/8));
int padding3 = (int)Math.ceil((double)padding_bytes/(w*3*depth/8));
if (return_image == null) {
int c = imageMode == ImageMode.COLOR ? 3 : 1;
int padding = imageMode == ImageMode.COLOR ? padding3 : padding1;
return_image = IplImage.create(w, h+padding, iplDepth, c);
return_image.height(return_image.height() - padding);
}
if (temp_image == null) {
if (imageMode == ImageMode.COLOR &&
(numChannels > 1 || depth > 8) && !coloryuv && !colorbayer) {
temp_image = IplImage.create(w, h+padding1, iplDepth, numChannels);
temp_image.height(temp_image.height() - padding1);
} else if (imageMode == ImageMode.GRAY &&
(coloryuv || colorbayer || (colorrgb && depth > 8))) {
temp_image = IplImage.create(w, h+padding3, iplDepth, 3);
temp_image.height(temp_image.height() - padding3);
} else if (imageMode == ImageMode.GRAY && colorrgb) {
temp_image = IplImage.createHeader(w, h, iplDepth, 3);
} else if (imageMode == ImageMode.COLOR && numChannels == 1 && !coloryuv && !colorbayer) {
temp_image = IplImage.createHeader(w, h, iplDepth, 1);
} else {
temp_image = return_image;
}
}
conv_image.size(0, temp_image.width());
conv_image.size(1, temp_image.height());
if (depth > 8) {
conv_image.color_coding(imageMode == ImageMode.RAW ? DC1394_COLOR_CODING_RAW16 :
temp_image.nChannels() == 1 ? DC1394_COLOR_CODING_MONO16 :
DC1394_COLOR_CODING_RGB16);
conv_image.data_depth(16);
} else {
conv_image.color_coding(imageMode == ImageMode.RAW ? DC1394_COLOR_CODING_RAW8 :
temp_image.nChannels() == 1 ? DC1394_COLOR_CODING_MONO8 :
DC1394_COLOR_CODING_RGB8);
conv_image.data_depth(8);
}
conv_image.stride(temp_image.widthStep());
int temp_size = temp_image.imageSize();
conv_image.allocated_image_bytes(temp_size).
total_bytes(temp_size).image_bytes(temp_size);
conv_image.image(temp_image.imageData());
if (colorbayer) {
// from raw Bayer... invert R and B to get BGR images
// (like OpenCV wants them) instead of RGB
int c = frame.color_filter();
if (c == DC1394_COLOR_FILTER_RGGB) {
frame.color_filter(DC1394_COLOR_FILTER_BGGR);
} else if (c == DC1394_COLOR_FILTER_GBRG) {
frame.color_filter(DC1394_COLOR_FILTER_GRBG);
} else if (c == DC1394_COLOR_FILTER_GRBG) {
frame.color_filter(DC1394_COLOR_FILTER_GBRG);
} else if (c == DC1394_COLOR_FILTER_BGGR) {
frame.color_filter(DC1394_COLOR_FILTER_RGGB);
} else {
assert false;
}
// other better methods than "simple" give garbage at 16 bits..
err = dc1394_debayer_frames(frame, conv_image, DC1394_BAYER_METHOD_SIMPLE);
frame.color_filter(c);
if (err != DC1394_SUCCESS) {
throw new Exception("dc1394_debayer_frames() Error " + err + ": Could not debayer frame.");
}
} else if (depth > 8 &&
frame.data_depth() == conv_image.data_depth() &&
frame.color_coding() == conv_image.color_coding() &&
frame.stride() == conv_image.stride()) {
// we just need a copy to swap bytes..
ShortBuffer in = frame.getByteBuffer().order(frameEndian).asShortBuffer();
ShortBuffer out = temp_image.getByteBuffer().order(ByteOrder.nativeOrder()).asShortBuffer();
out.put(in);
alreadySwapped = true;
} else if ((imageMode == ImageMode.GRAY && colorrgb) ||
(imageMode == ImageMode.COLOR && numChannels == 1 && !coloryuv && !colorbayer)) {
temp_image.widthStep(stride);
temp_image.imageSize(size);
temp_image.imageData(imageData);
} else if (!colorrgb && (colorbayer || coloryuv || numChannels > 1)) {
// from YUV, etc.
err = dc1394_convert_frames(frame, conv_image);
if (err != DC1394_SUCCESS) {
throw new Exception("dc1394_convert_frames() Error " + err + ": Could not convert frame.");
}
}
if (!alreadySwapped && depth > 8 && !frameEndian.equals(ByteOrder.nativeOrder())) {
// ack, the camera's endianness doesn't correspond to our machine ...
// swap bytes of 16-bit images
ByteBuffer bb = temp_image.getByteBuffer();
ShortBuffer in = bb.order(frameEndian).asShortBuffer();
ShortBuffer out = bb.order(ByteOrder.nativeOrder()).asShortBuffer();
out.put(in);
}
// should we copy the padding as well?
if (imageMode == ImageMode.COLOR && numChannels == 1 && !coloryuv && !colorbayer) {
cvCvtColor(temp_image, return_image, CV_GRAY2BGR);
} else if (imageMode == ImageMode.GRAY && (colorbayer || colorrgb || coloryuv)) {
cvCvtColor(temp_image, return_image, CV_BGR2GRAY);
}
}
switch (frame.color_filter()) {
case DC1394_COLOR_FILTER_RGGB: sensorPattern = SENSOR_PATTERN_RGGB; break;
case DC1394_COLOR_FILTER_GBRG: sensorPattern = SENSOR_PATTERN_GBRG; break;
case DC1394_COLOR_FILTER_GRBG: sensorPattern = SENSOR_PATTERN_GRBG; break;
case DC1394_COLOR_FILTER_BGGR: sensorPattern = SENSOR_PATTERN_BGGR; break;
default: sensorPattern = -1L;
}
enqueue_image = frame;
timestamp = frame.timestamp();
frameNumber += numDequeued;
// int[] cycle_timer = { 0 };
// long[] local_time = { 0 };
// dc1394_read_cycle_timer(camera, cycle_timer, local_time);
//System.out.println("frame age = " + (local_time[0] - timestamp));
return converter.convert(return_image);
}
}