Examples with ShortBuffer java.nio.ShortBuffer used on opensource projects

Example 76 with ShortBuffer

use of java.nio.ShortBuffer in project narchy by automenta.

the class SND_MIX method TransferPaintBuffer.

/*
     * =================== S_TransferPaintBuffer
     * 
     * ===================
     */
static void TransferPaintBuffer(int endtime) {
    int out_idx;
    int count;
    int out_mask;
    int p;
    int step;
    int val;
    // unsigned long *pbuf;
    ByteBuffer pbuf = ByteBuffer.wrap(dma.buffer);
    pbuf.order(ByteOrder.LITTLE_ENDIAN);
    if (SND_DMA.s_testsound.value != 0.0f) {
        int i;
        int count2;
        // write a fixed sine wave
        count2 = (endtime - paintedtime) * 2;
        int v;
        for (i = 0; i < count2; i += 2) {
            v = (int) (Math.sin((paintedtime + i) * 0.1) * 20000 * 256);
            paintbuffer.put(i, v);
            paintbuffer.put(i + 1, v);
        }
    }
    if (dma.samplebits == 16 && dma.channels == 2) {
        // optimized case
        TransferStereo16(pbuf, endtime);
    } else {
        // general case
        p = 0;
        count = (endtime - paintedtime) * dma.channels;
        out_mask = dma.samples - 1;
        out_idx = paintedtime * dma.channels & out_mask;
        step = 3 - dma.channels;
        if (dma.samplebits == 16) {
            // short *out = (short *) pbuf;
            ShortBuffer out = pbuf.asShortBuffer();
            while (count-- > 0) {
                val = paintbuffer.get(p) >> 8;
                p += step;
                if (val > 0x7fff)
                    val = 0x7fff;
                else if (val < (short) 0x8000)
                    val = (short) 0x8000;
                out.put(out_idx, (short) val);
                // System.out.println(out_idx + " " + val);
                out_idx = (out_idx + 1) & out_mask;
            }
        } else if (dma.samplebits == 8) {
            // unsigned char *out = (unsigned char *) pbuf;
            while (count-- > 0) {
                val = paintbuffer.get(p) >> 8;
                p += step;
                if (val > 0x7fff)
                    val = 0x7fff;
                else if (val < (short) 0x8000)
                    val = (short) 0x8000;
                pbuf.put(out_idx, (byte) (val >>> 8));
                out_idx = (out_idx + 1) & out_mask;
            }
        }
    }
}

Example 77 with ShortBuffer

use of java.nio.ShortBuffer in project narchy by automenta.

the class Mesh method GL_DrawAliasFrameLerp.

/**
 * GL_DrawAliasFrameLerp
 * <p>
 * interpolates between two frames and origins FIXME: batch lerp all
 * vertexes
 */
void GL_DrawAliasFrameLerp(qfiles.dmdl_t paliashdr, float backlerp) {
    qfiles.daliasframe_t frame = paliashdr.aliasFrames[currententity.frame];
    int[] verts = frame.verts;
    qfiles.daliasframe_t oldframe = paliashdr.aliasFrames[currententity.oldframe];
    int[] ov = oldframe.verts;
    float alpha;
    if ((currententity.flags & Defines.RF_TRANSLUCENT) != 0)
        alpha = currententity.alpha;
    else
        alpha = 1.0f;
    // PMM - added double shell
    if ((currententity.flags & (Defines.RF_SHELL_RED | Defines.RF_SHELL_GREEN | Defines.RF_SHELL_BLUE | Defines.RF_SHELL_DOUBLE | Defines.RF_SHELL_HALF_DAM)) != 0)
        gl.glDisable(GL_TEXTURE_2D);
    float frontlerp = 1.0f - backlerp;
    // move should be the delta back to the previous frame * backlerp
    Math3D.VectorSubtract(currententity.oldorigin, currententity.origin, frontv);
    float[][] vectors = this.vectors;
    Math3D.AngleVectors(currententity.angles, vectors[0], vectors[1], vectors[2]);
    float[] move = this.move;
    // forward
    move[0] = Math3D.DotProduct(frontv, vectors[0]);
    // left
    move[1] = -Math3D.DotProduct(frontv, vectors[1]);
    // up
    move[2] = Math3D.DotProduct(frontv, vectors[2]);
    Math3D.VectorAdd(move, oldframe.translate, move);
    float[] frontv = this.frontv;
    float[] backv = this.backv;
    float[] translate = frame.translate;
    float[] scale = frame.scale;
    float[] oldScale = oldframe.scale;
    for (int i = 0; i < 3; i++) {
        move[i] = backlerp * move[i] + frontlerp * translate[i];
        frontv[i] = frontlerp * scale[i];
        backv[i] = backlerp * oldScale[i];
    }
    // ab hier wird optimiert
    GL_LerpVerts(paliashdr.num_xyz, ov, verts, move, frontv, backv);
    gl.glEnableClientState(GL_VERTEX_ARRAY);
    gl.glVertexPointer(3, 0, vertexArrayBuf);
    // PMM - added double damage shell
    float[] shadelight = this.shadelight;
    if ((currententity.flags & (Defines.RF_SHELL_RED | Defines.RF_SHELL_GREEN | Defines.RF_SHELL_BLUE | Defines.RF_SHELL_DOUBLE | Defines.RF_SHELL_HALF_DAM)) != 0) {
        gl.glColor4f(shadelight[0], shadelight[1], shadelight[2], alpha);
    } else {
        gl.glEnableClientState(GL_COLOR_ARRAY);
        gl.glColorPointer(4, 0, colorArrayBuf);
        // 
        // pre light everything
        // 
        FloatBuffer color = colorArrayBuf;
        float l;
        int size = paliashdr.num_xyz;
        int j = 0;
        float[] shadedots = this.shadedots;
        for (int i = 0; i < size; i++) {
            l = shadedots[(verts[i] >>> 24) & 0xFF];
            color.put(j, l * shadelight[0]);
            color.put(j + 1, l * shadelight[1]);
            color.put(j + 2, l * shadelight[2]);
            color.put(j + 3, alpha);
            j += 4;
        }
    }
    gl.glClientActiveTextureARB(TEXTURE0);
    gl.glTexCoordPointer(2, 0, textureArrayBuf);
    gl.glEnableClientState(GL_TEXTURE_COORD_ARRAY);
    int pos = 0;
    int[] counts = paliashdr.counts;
    ShortBuffer srcIndexBuf = null;
    FloatBuffer dstTextureCoords = textureArrayBuf;
    FloatBuffer srcTextureCoords = paliashdr.textureCoordBuf;
    int dstIndex = 0;
    int srcIndex = 0;
    int count;
    int mode;
    int size = counts.length;
    for (int j = 0; j < size; j++) {
        // get the vertex count and primitive type
        count = counts[j];
        if (count == 0)
            // done
            break;
        srcIndexBuf = paliashdr.indexElements[j];
        mode = GL_TRIANGLE_STRIP;
        if (count < 0) {
            mode = GL_TRIANGLE_FAN;
            count = -count;
        }
        srcIndex = pos << 1;
        srcIndex--;
        for (int k = 0; k < count; k++) {
            dstIndex = srcIndexBuf.get(k) << 1;
            dstTextureCoords.put(dstIndex, srcTextureCoords.get(++srcIndex));
            dstTextureCoords.put(++dstIndex, srcTextureCoords.get(++srcIndex));
        }
        gl.glDrawElements(mode, srcIndexBuf);
        pos += count;
    }
    // PMM - added double damage shell
    if ((currententity.flags & (Defines.RF_SHELL_RED | Defines.RF_SHELL_GREEN | Defines.RF_SHELL_BLUE | Defines.RF_SHELL_DOUBLE | Defines.RF_SHELL_HALF_DAM)) != 0)
        gl.glEnable(GL_TEXTURE_2D);
    gl.glDisableClientState(GL_COLOR_ARRAY);
}

Example 78 with ShortBuffer

use of java.nio.ShortBuffer in project javacv by bytedeco.

the class FrameGrabberTest method testFFmpegFrameGrabberLockingTest.

@Test
public void testFFmpegFrameGrabberLockingTest() {
    final boolean[] failed = { false };
    final int numberOfInstances = 20;
    System.out.println("FFmpegFrameGrabberLocking");
    Runnable[] runables = new Runnable[numberOfInstances];
    Thread[] threads = new Thread[numberOfInstances];
    final boolean[] finish = new boolean[numberOfInstances];
    for (int instance = 0; instance < numberOfInstances; instance++) {
        final int instance_final = instance;
        Runnable r = new Runnable() {

            public void run() {
                File tempFile = new File(Loader.getTempDir(), "test" + instance_final + ".mkv");
                try {
                    FFmpegFrameRecorder recorder = new FFmpegFrameRecorder(new FileOutputStream(tempFile), 640, 480, 2);
                    // mp4 doesn't support streaming
                    recorder.setFormat("matroska");
                    recorder.setPixelFormat(AV_PIX_FMT_BGR24);
                    recorder.setVideoCodecName("libx264rgb");
                    // lossless
                    recorder.setVideoQuality(0);
                    recorder.setSampleFormat(AV_SAMPLE_FMT_S16);
                    recorder.setSampleRate(44100);
                    recorder.setAudioCodecName("pcm_s16le");
                    recorder.start();
                    Frame[] frames = new Frame[10];
                    for (int n = 0; n < frames.length; n++) {
                        Frame frame = new Frame(640, 480, Frame.DEPTH_UBYTE, 3);
                        UByteIndexer frameIdx = frame.createIndexer();
                        for (int i = 0; i < frameIdx.rows(); i++) {
                            for (int j = 0; j < frameIdx.cols(); j++) {
                                for (int k = 0; k < frameIdx.channels(); k++) {
                                    frameIdx.put(i, j, k, n + i + j + k);
                                }
                            }
                        }
                        recorder.record(frame);
                        frames[n] = frame;
                    }
                    Frame audioFrame = new Frame();
                    ShortBuffer audioBuffer = ShortBuffer.allocate(64 * 1024);
                    audioFrame.sampleRate = 44100;
                    audioFrame.audioChannels = 2;
                    audioFrame.samples = new ShortBuffer[] { audioBuffer };
                    for (int i = 0; i < audioBuffer.capacity(); i++) {
                        audioBuffer.put(i, (short) i);
                    }
                    recorder.record(audioFrame);
                    recorder.stop();
                    recorder.release();
                    Thread.sleep(1000);
                    FFmpegFrameGrabber grabber = new FFmpegFrameGrabber(new FileInputStream(tempFile));
                    grabber.setSampleMode(FrameGrabber.SampleMode.FLOAT);
                    grabber.start();
                    int n = 0, m = 0;
                    Frame frame2;
                    while ((frame2 = grabber.grab()) != null) {
                        if (frame2.image != null) {
                            Frame frame = frames[n++];
                            assertEquals(frame.imageWidth, frame2.imageWidth);
                            assertEquals(frame.imageHeight, frame2.imageHeight);
                            assertEquals(frame.imageChannels, frame2.imageChannels);
                            UByteIndexer frameIdx = frame.createIndexer();
                            UByteIndexer frame2Idx = frame2.createIndexer();
                            for (int i = 0; i < frameIdx.rows(); i++) {
                                for (int j = 0; j < frameIdx.cols(); j++) {
                                    for (int k = 0; k < frameIdx.channels(); k++) {
                                        int b = frameIdx.get(i, j, k);
                                        assertEquals(b, frame2Idx.get(i, j, k));
                                    }
                                }
                            }
                        } else {
                            FloatBuffer audioBuffer2 = (FloatBuffer) frame2.samples[0];
                            while (audioBuffer2.hasRemaining()) {
                                assertEquals((float) audioBuffer.get(m++) / (Short.MAX_VALUE + 1), audioBuffer2.get(), 0);
                            }
                        }
                    }
                    assertEquals(frames.length, n);
                    assertEquals(null, grabber.grab());
                    grabber.restart();
                    grabber.stop();
                    grabber.release();
                } catch (Error | Exception e) {
                    failed[0] = true;
                    fail("Exception should not have been thrown: " + e);
                } finally {
                    tempFile.delete();
                    finish[instance_final] = true;
                }
            }
        };
        runables[instance_final] = r;
    }
    for (int instance = 0; instance < numberOfInstances; instance++) {
        threads[instance] = new Thread(runables[instance]);
        threads[instance].setName("Testthread-" + instance);
    }
    for (int instance = 0; instance < numberOfInstances; instance++) {
        threads[instance].start();
    }
    while (true) {
        boolean finished = true;
        for (int instance = 0; instance < numberOfInstances; instance++) {
            if (!finish[instance]) {
                finished = false;
                break;
            }
        }
        if (!finished) {
            System.out.println("Still waiting...");
            try {
                Thread.sleep(500);
            } catch (InterruptedException e) {
                // TODO Auto-generated catch block
                e.printStackTrace();
            }
        } else {
            break;
        }
    }
    assertFalse(failed[0]);
}

Example 79 with ShortBuffer

use of java.nio.ShortBuffer in project javacv by bytedeco.

the class JavaFxPlayVideoAndAudio method start.

@Override
public void start(Stage primaryStage) throws Exception {
    StackPane root = new StackPane();
    ImageView imageView = new ImageView();
    root.getChildren().add(imageView);
    imageView.fitWidthProperty().bind(primaryStage.widthProperty());
    imageView.fitHeightProperty().bind(primaryStage.heightProperty());
    Scene scene = new Scene(root, 640, 480);
    primaryStage.setTitle("Video + audio");
    primaryStage.setScene(scene);
    primaryStage.show();
    playThread = new Thread(() -> {
        try {
            String videoFilename = getParameters().getRaw().get(0);
            FFmpegFrameGrabber grabber = new FFmpegFrameGrabber(videoFilename);
            grabber.start();
            primaryStage.setWidth(grabber.getImageWidth());
            primaryStage.setHeight(grabber.getImageHeight());
            AudioFormat audioFormat = new AudioFormat(grabber.getSampleRate(), 16, grabber.getAudioChannels(), true, true);
            DataLine.Info info = new DataLine.Info(SourceDataLine.class, audioFormat);
            SourceDataLine soundLine = (SourceDataLine) AudioSystem.getLine(info);
            soundLine.open(audioFormat);
            soundLine.start();
            Java2DFrameConverter converter = new Java2DFrameConverter();
            ExecutorService executor = Executors.newSingleThreadExecutor();
            while (!Thread.interrupted()) {
                Frame frame = grabber.grab();
                if (frame == null) {
                    break;
                }
                if (frame.image != null) {
                    Image image = SwingFXUtils.toFXImage(converter.convert(frame), null);
                    Platform.runLater(() -> {
                        imageView.setImage(image);
                    });
                } else if (frame.samples != null) {
                    ShortBuffer channelSamplesShortBuffer = (ShortBuffer) frame.samples[0];
                    channelSamplesShortBuffer.rewind();
                    ByteBuffer outBuffer = ByteBuffer.allocate(channelSamplesShortBuffer.capacity() * 2);
                    for (int i = 0; i < channelSamplesShortBuffer.capacity(); i++) {
                        short val = channelSamplesShortBuffer.get(i);
                        outBuffer.putShort(val);
                    }
                    /**
                     * We need this because soundLine.write ignores
                     * interruptions during writing.
                     */
                    try {
                        executor.submit(() -> {
                            soundLine.write(outBuffer.array(), 0, outBuffer.capacity());
                            outBuffer.clear();
                        }).get();
                    } catch (InterruptedException interruptedException) {
                        Thread.currentThread().interrupt();
                    }
                }
            }
            executor.shutdownNow();
            executor.awaitTermination(10, TimeUnit.SECONDS);
            soundLine.stop();
            grabber.stop();
            grabber.release();
            Platform.exit();
        } catch (Exception exception) {
            LOG.log(Level.SEVERE, null, exception);
            System.exit(1);
        }
    });
    playThread.start();
}

Example 80 with ShortBuffer

use of java.nio.ShortBuffer in project javacv by bytedeco.

the class DC1394FrameGrabber method grab.

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;
    // System.out.println("frame age = " + (local_time[0] - timestamp));
    return converter.convert(return_image);
}