Пример #1
0
/********************************
** Client is asking us to establish connection to the device
*********************************/
bool Cindi_iidc::Connect() {
    dc1394camera_list_t *list;
    dc1394error_t err;

    dc1394 = dc1394_new();
    if (!dc1394) {
        return false;
    }

    /* init bus and connect to the camera */
    err = dc1394_camera_enumerate(dc1394, &list);
    if (err != DC1394_SUCCESS) {
        IDMessage(getDeviceName(), "Could not find DC1394 cameras!");
        return false;
    }
    if (!list->num) {
        IDMessage(getDeviceName(), "No DC1394 cameras found!");
        return false;
    }
    dcam = dc1394_camera_new(dc1394, list->ids[0].guid);
    if (!dcam) {
        IDMessage(getDeviceName(), "Unable to connect to camera!");
        return false;
    }

    /* Reset camera */
    err = dc1394_camera_reset(dcam);
    if (err != DC1394_SUCCESS) {
        IDMessage(getDeviceName(), "Unable to reset camera!");
        return false;
    }

    IDMessage(getDeviceName(), "indi-iidc connected successfully!");
    return true;
}
Пример #2
0
int _reset_camera(QSP_ARG_DECL  PGR_Cam *pgcp)
{
	if( /* dc1394_reset_camera */
		dc1394_camera_reset(pgcp->pc_cam_p) != DC1394_SUCCESS ){
		warn("Could not initilize camera");
		return -1;
	}
	return 0;
}
Пример #3
0
static int run_capture(const char *basename, float delay, bool testonly)
{
	dc1394camera_t *camera;

	printf("Waiting for camera\n");
	while ((camera = open_camera()) == NULL) {
		printf(".");
		fflush(stdout);
		sleep(1);
	}

	dc1394_camera_reset(camera);

	capture_loop(camera, basename, delay, testonly);
	close_camera(camera);

	return 0;
}
Пример #4
0
/**************************************************************************************
** Client is asking us to establish connection to the device
***************************************************************************************/
bool FFMVCCD::Connect()
{
    dc1394camera_list_t *list;
    dc1394error_t err;
    bool supported;
    bool settings_valid;
    uint32_t val;
    dc1394format7mode_t fm7;
    dc1394feature_info_t feature;
    float min, max;

    dc1394 = dc1394_new();
    if (!dc1394) {
        return false;
    }

    err = dc1394_camera_enumerate(dc1394, &list);
    if (err != DC1394_SUCCESS) {
        IDMessage(getDeviceName(), "Could not find DC1394 cameras!");
        return false;
    }
    if (!list->num) {
        IDMessage(getDeviceName(), "No DC1394 cameras found!");
        return false;
    }
    dcam = dc1394_camera_new(dc1394, list->ids[0].guid);
    if (!dcam) {
        IDMessage(getDeviceName(), "Unable to connect to camera!");
        return false;
    }

    /* Reset camera */
    err = dc1394_camera_reset(dcam);
    if (err != DC1394_SUCCESS) {
        IDMessage(getDeviceName(), "Unable to reset camera!");
        return false;
    }

    /* Set mode */
    err = dc1394_video_set_mode(dcam, DC1394_VIDEO_MODE_640x480_MONO16);
    if (err != DC1394_SUCCESS) {
        IDMessage(getDeviceName(), "Unable to connect to set videomode!");
        return false;
    }
    /* Disable Auto exposure control */
    err = dc1394_feature_set_power(dcam, DC1394_FEATURE_EXPOSURE, DC1394_OFF);
    if (err != DC1394_SUCCESS) {
        IDMessage(getDeviceName(), "Unable to disable auto exposure control");
        return false;
    }

    /* Set frame rate to the lowest possible */
    err = dc1394_video_set_framerate(dcam, DC1394_FRAMERATE_7_5);
    if (err != DC1394_SUCCESS) {
        IDMessage(getDeviceName(), "Unable to connect to set framerate!");
        return false;
    }
    /* Turn frame rate control off to enable extended exposure (subs of 512ms) */
    err = dc1394_feature_set_power(dcam, DC1394_FEATURE_FRAME_RATE, DC1394_OFF);
    if (err != DC1394_SUCCESS) {
        IDMessage(getDeviceName(), "Unable to disable framerate!");
        return false;
    }

    /* Get the longest possible exposure length */
    err = dc1394_feature_set_mode(dcam, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);
    if (err != DC1394_SUCCESS) {
        IDMessage(getDeviceName(), "Failed to enable manual shutter control.");
    } 
    err = dc1394_feature_set_absolute_control(dcam, DC1394_FEATURE_SHUTTER, DC1394_ON);
    if (err != DC1394_SUCCESS) {
        IDMessage(getDeviceName(), "Failed to enable absolute shutter control.");
    } 
    err = dc1394_feature_get_absolute_boundaries(dcam, DC1394_FEATURE_SHUTTER, &min, &max);
    if (err != DC1394_SUCCESS) {
        IDMessage(getDeviceName(), "Could not get max shutter length");
    } else {
        max_exposure = max;
    }

    /* Set gain to max. By setting the register directly, we can achieve a
     * gain of 24 dB...compared to a gain of 12 dB which is reported as the
     * max
     */
    err = dc1394_set_control_register(dcam, 0x820, 0x40);
    //err = dc1394_set_control_register(dcam, 0x820, 0x7f);
    if (err != DC1394_SUCCESS) {
            return err;
    }
#if 0
    /* Set absolute gain to max */
    err = dc1394_feature_set_absolute_control(dcam, DC1394_FEATURE_GAIN, DC1394_ON);
    if (err != DC1394_SUCCESS) {
        IDMessage(getDeviceName(), "Failed to enable ansolute gain control.");
    } 
    err = dc1394_feature_get_absolute_boundaries(dcam, DC1394_FEATURE_GAIN, &min, &max);
    if (err != DC1394_SUCCESS) {
        IDMessage(getDeviceName(), "Could not get max gain value");
    } else {
        err = dc1394_feature_set_absolute_value(dcam, DC1394_FEATURE_GAIN, max);
        if (err != DC1394_SUCCESS) {
            IDMessage(getDeviceName(), "Could not set max gain value");
        }
    }
#endif

    /* Set brightness */
    err = dc1394_feature_set_mode(dcam, DC1394_FEATURE_BRIGHTNESS, DC1394_FEATURE_MODE_MANUAL);
    if (err != DC1394_SUCCESS) {
        IDMessage(getDeviceName(), "Failed to enable manual brightness control.");
    } 
    err = dc1394_feature_set_absolute_control(dcam, DC1394_FEATURE_BRIGHTNESS, DC1394_ON);
    if (err != DC1394_SUCCESS) {
        IDMessage(getDeviceName(), "Failed to enable ansolute brightness control.");
    } 
    err = dc1394_feature_set_absolute_value(dcam, DC1394_FEATURE_BRIGHTNESS, 1);
    if (err != DC1394_SUCCESS) {
            IDMessage(getDeviceName(), "Could not set max brightness value");
    }

    /* Turn gamma control off */
    err = dc1394_feature_set_absolute_value(dcam, DC1394_FEATURE_GAMMA, 1);
    if (err != DC1394_SUCCESS) {
            IDMessage(getDeviceName(), "Could not set gamma value");
    }
    err = dc1394_feature_set_power(dcam, DC1394_FEATURE_GAMMA, DC1394_OFF);
    if (err != DC1394_SUCCESS) {
        IDMessage(getDeviceName(), "Unable to disable gamma!");
        return false;
    }

    /* Turn off white balance */
    err = dc1394_feature_set_power(dcam, DC1394_FEATURE_WHITE_BALANCE, DC1394_OFF);
    if (err != DC1394_SUCCESS) {
        IDMessage(getDeviceName(), "Unable to disable white balance!");
        return false;
    }

    err=dc1394_capture_setup(dcam,10, DC1394_CAPTURE_FLAGS_DEFAULT);

    return true;
}
Пример #5
0
/*****************************************************************************
 * Open:
 *****************************************************************************/
static int Open( vlc_object_t *p_this )
{
    demux_t      *p_demux = (demux_t*)p_this;
    demux_sys_t  *p_sys;
    es_format_t   fmt;
    dc1394error_t res;
    int           i_width;
    int           i_height;

    if( strncmp(p_demux->psz_access, "dc1394", 6) != 0 )
        return VLC_EGENERIC;

    /* Set up p_demux */
    p_demux->pf_demux = Demux;
    p_demux->pf_control = Control;
    p_demux->info.i_update = 0;
    p_demux->info.i_title = 0;
    p_demux->info.i_seekpoint = 0;

    p_demux->p_sys = p_sys = calloc( 1, sizeof( demux_sys_t ) );
    if( !p_sys )
        return VLC_ENOMEM;

    memset( &fmt, 0, sizeof( es_format_t ) );

    /* DEFAULTS */
    p_sys->video_mode      = DC1394_VIDEO_MODE_640x480_YUV422;
    p_sys->width           = 640;
    p_sys->height          = 480;
    p_sys->frame_rate      = DC1394_FRAMERATE_15;
    p_sys->brightness      = 200;
    p_sys->focus           = 0;
    p_sys->fd_audio        = -1;
    p_sys->p_dccontext     = NULL;
    p_sys->camera          = NULL;
    p_sys->selected_camera = -1;
    p_sys->dma_buffers     = 1;
    p_sys->reset_bus       = 0;

    /* PROCESS INPUT OPTIONS */
    if( process_options(p_demux) != VLC_SUCCESS )
    {
        msg_Err( p_demux, "Bad MRL, please check the option line "
                          "(MRL was: %s)",
                          p_demux->psz_path );
        free( p_sys );
        return VLC_EGENERIC;
    }

    p_sys->p_dccontext = dc1394_new();
    if( !p_sys->p_dccontext )
    {
        msg_Err( p_demux, "Failed to initialise libdc1394");
        free( p_sys );
        return VLC_EGENERIC;
    }

    if( FindCamera( p_sys, p_demux ) != VLC_SUCCESS )
    {
        dc1394_free( p_sys->p_dccontext );
        free( p_sys );
        return VLC_EGENERIC;
    }

    if( !p_sys->camera )
    {
        msg_Err( p_demux, "No camera found !!" );
        dc1394_free( p_sys->p_dccontext );
        free( p_sys );
        return VLC_EGENERIC;
    }

    if( p_sys->reset_bus )
    {
        if( dc1394_reset_bus( p_sys->camera ) != DC1394_SUCCESS )
        {
            msg_Err( p_demux, "Unable to reset IEEE 1394 bus");
            Close( p_this );
            return VLC_EGENERIC;
        }
        else msg_Dbg( p_demux, "Successfully reset IEEE 1394 bus");
    }

    if( dc1394_camera_reset( p_sys->camera ) != DC1394_SUCCESS )
    {
        msg_Err( p_demux, "Unable to reset camera");
        Close( p_this );
        return VLC_EGENERIC;
    }

    if( dc1394_camera_print_info( p_sys->camera,
                  stderr ) != DC1394_SUCCESS )
    {
        msg_Err( p_demux, "Unable to print camera info");
        Close( p_this );
        return VLC_EGENERIC;
    }

    if( dc1394_feature_get_all( p_sys->camera,
                &p_sys->features ) != DC1394_SUCCESS )
    {
        msg_Err( p_demux, "Unable to get feature set");
        Close( p_this );
        return VLC_EGENERIC;
    }
    // TODO: only print features if verbosity increased
    dc1394_feature_print_all(&p_sys->features, stderr);

#if 0 //"Note that you need to execute this function only if you use exotic video1394 device names. /dev/video1394, /dev/video1394/* and /dev/video1394-* are automatically recognized." http://damien.douxchamps.net/ieee1394/libdc1394/v2.x/api/capture/
    if( p_sys->video_device )
    {
        if( dc1394_capture_set_device_filename( p_sys->camera,
                        p_sys->video_device ) != DC1394_SUCCESS )
        {
            msg_Err( p_demux, "Unable to set video device");
            Close( p_this );
            return VLC_EGENERIC;
        }
    }
#endif

    if( p_sys->focus )
    {
        if( dc1394_feature_set_value( p_sys->camera,
                      DC1394_FEATURE_FOCUS,
                      p_sys->focus ) != DC1394_SUCCESS )
        {
            msg_Err( p_demux, "Unable to set initial focus to %u",
                     p_sys->focus );
        }
        else
            msg_Dbg( p_demux, "Initial focus set to %u", p_sys->focus );
    }

    if( dc1394_feature_set_value( p_sys->camera,
                  DC1394_FEATURE_FOCUS,
                  p_sys->brightness ) != DC1394_SUCCESS )
    {
        msg_Err( p_demux, "Unable to set initial brightness to %u",
                 p_sys->brightness );
    }
    else
        msg_Dbg( p_demux, "Initial brightness set to %u", p_sys->brightness );

    if( dc1394_video_set_framerate( p_sys->camera,
                    p_sys->frame_rate ) != DC1394_SUCCESS )
    {
        msg_Err( p_demux, "Unable to set framerate");
        Close( p_this );
        return VLC_EGENERIC;
    }

    if( dc1394_video_set_mode( p_sys->camera,
                   p_sys->video_mode ) != DC1394_SUCCESS )
    {
        msg_Err( p_demux, "Unable to set video mode");
        Close( p_this );
        return VLC_EGENERIC;
    }

    if( dc1394_video_set_iso_speed( p_sys->camera,
                    DC1394_ISO_SPEED_400 ) != DC1394_SUCCESS )
    {
        msg_Err( p_demux, "Unable to set iso speed");
        Close( p_this );
        return VLC_EGENERIC;
    }

    /* and setup capture */
    res = dc1394_capture_setup( p_sys->camera,
                    p_sys->dma_buffers,
                DC1394_CAPTURE_FLAGS_DEFAULT);
    if( res != DC1394_SUCCESS )
    {
        if( res == DC1394_NO_BANDWIDTH )
        {
            msg_Err( p_demux ,"No bandwidth: try adding the "
             "\"resetbus\" option" );
        }
        else
        {
            msg_Err( p_demux ,"Unable to setup capture" );
        }
        Close( p_this );
        return VLC_EGENERIC;
    }

    /* TODO - UYV444 chroma converter is missing, when it will be available
     * fourcc will become variable (and not just a fixed value for UYVY)
     */
    i_width = p_sys->width;
    i_height = p_sys->height;

    if( picture_Setup( &p_sys->pic, VLC_CODEC_UYVY,
                       i_width, i_height, 1, 1 ) )
    {
        msg_Err( p_demux ,"unknown chroma" );
        Close( p_this );
        return VLC_EGENERIC;
    }

    es_format_Init( &fmt, VIDEO_ES, VLC_CODEC_UYVY );

    fmt.video.i_width = i_width;
    fmt.video.i_height = i_height;

    msg_Dbg( p_demux, "Added new video es %4.4s %dx%d",
             (char*)&fmt.i_codec, fmt.video.i_width, fmt.video.i_height );

    p_sys->p_es_video = es_out_Add( p_demux->out, &fmt );

    if( p_sys->audio_device )
    {
        if( OpenAudioDev( p_demux ) == VLC_SUCCESS )
        {
            es_format_t fmt;
            es_format_Init( &fmt, AUDIO_ES, VLC_CODEC_S16L ); /* FIXME: hmm, ?? */

            fmt.audio.i_channels = p_sys->channels ? p_sys->channels : 1;
            fmt.audio.i_rate = p_sys->i_sample_rate;
            fmt.audio.i_bitspersample = 16;
            fmt.audio.i_blockalign = fmt.audio.i_channels *
                                     fmt.audio.i_bitspersample / 8;
            fmt.i_bitrate = fmt.audio.i_channels * fmt.audio.i_rate *
                            fmt.audio.i_bitspersample;

            msg_Dbg( p_demux, "New audio es %d channels %dHz",
            fmt.audio.i_channels, fmt.audio.i_rate );

            p_sys->p_es_audio = es_out_Add( p_demux->out, &fmt );
        }
    }

    /* have the camera start sending us data */
    if( dc1394_video_set_transmission( p_sys->camera,
                       DC1394_ON ) != DC1394_SUCCESS )
    {
        msg_Err( p_demux, "Unable to start camera iso transmission" );
        dc1394_capture_stop( p_sys->camera );
        Close( p_this );
        return VLC_EGENERIC;
    }
    msg_Dbg( p_demux, "Set iso transmission" );
    // TODO: reread camera
    return VLC_SUCCESS;
}
Пример #6
0
// Note:
// the following was tested on a IIDC camera over USB therefore might not work as
// well on a camera over proper firewire transport
void FirewireVideo::init_format7_camera(
    uint64_t guid, int dma_frames,
    dc1394speed_t iso_speed,
    dc1394video_mode_t video_mode,
    float framerate,
    uint32_t width, uint32_t height,
    uint32_t left, uint32_t top, bool reset_at_boot
    ) {

    if(video_mode< DC1394_VIDEO_MODE_FORMAT7_0)
        throw VideoException("roi can be specified only for format7 modes");

    camera = dc1394_camera_new (d, guid);
    if (!camera)
        throw VideoException("Failed to initialize camera");

    // Attempt to stop camera if it is already running
    dc1394switch_t is_iso_on = DC1394_OFF;
    dc1394_video_get_transmission(camera, &is_iso_on);
    if (is_iso_on==DC1394_ON) {
        dc1394_video_set_transmission(camera, DC1394_OFF);
    }

    cout << "Using camera with GUID " << camera->guid << endl;

    if(reset_at_boot){
      dc1394_camera_reset(camera);
    }

    //-----------------------------------------------------------------------
    //  setup mode and roi
    //-----------------------------------------------------------------------

    if(iso_speed >= DC1394_ISO_SPEED_800)
    {
        err=dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_1394B);
        if( err != DC1394_SUCCESS )
           throw VideoException("Could not set DC1394_OPERATION_MODE_1394B");
    }

    err=dc1394_video_set_iso_speed(camera, iso_speed);
    if( err != DC1394_SUCCESS )
        throw VideoException("Could not set iso speed");

    // check that the required mode is actually supported
    dc1394format7mode_t format7_info;

    err = dc1394_format7_get_mode_info(camera, video_mode, &format7_info);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not get format7 mode info");

    // safely set the video mode
    err=dc1394_video_set_mode(camera, video_mode);
    if( err != DC1394_SUCCESS )
        throw VideoException("Could not set format7 video mode");

    // set position to 0,0 so that setting any size within min and max is a valid command
    err = dc1394_format7_set_image_position(camera, video_mode,0,0);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not set format7 image position");

    // work out the desired image size
    width = nearest_value(width, format7_info.unit_pos_x, 0, format7_info.max_size_x - left);
    height = nearest_value(height, format7_info.unit_pos_y, 0, format7_info.max_size_y - top);

    // set size
    err = dc1394_format7_set_image_size(camera,video_mode,width,height);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not set format7 size");

    // get the info again since many parameters depend on image size
    err = dc1394_format7_get_mode_info(camera, video_mode, &format7_info);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not get format7 mode info");

    // work out position of roi
    left = nearest_value(left, format7_info.unit_size_x, format7_info.unit_size_x, format7_info.max_size_x - width);
    top = nearest_value(top, format7_info.unit_size_y, format7_info.unit_size_y, format7_info.max_size_y - height);

    // set roi position
    err = dc1394_format7_set_image_position(camera,video_mode,left,top);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not set format7 size");

    this->width = width;
    this->height = height;
    this->top = top;
    this->left = left;

    cout<<"roi: "<<left<<" "<<top<<" "<<width<<" "<<height<<"  ";


    //-----------------------------------------------------------------------
    //  setup frame rate
    //-----------------------------------------------------------------------

    err=dc1394_format7_set_packet_size(camera,video_mode, format7_info.max_packet_size);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not set format7 packet size");

    if((framerate != MAX_FR) && (framerate != EXT_TRIG)){
      //set the framerate by using the absolute feature as suggested by the
      //folks at PointGrey
      err = dc1394_feature_set_absolute_control(camera,DC1394_FEATURE_FRAME_RATE,DC1394_ON);
      if( err != DC1394_SUCCESS )
          throw VideoException("Could not turn on absolute frame rate control");

      err = dc1394_feature_set_mode(camera,DC1394_FEATURE_FRAME_RATE,DC1394_FEATURE_MODE_MANUAL);
      if( err != DC1394_SUCCESS )
          throw VideoException("Could not make frame rate manual ");

      err=dc1394_feature_set_absolute_value(camera,DC1394_FEATURE_FRAME_RATE,framerate);
      if( err != DC1394_SUCCESS )
          throw VideoException("Could not set format7 framerate ");
    }

    // ask the camera what is the resulting framerate (this assume that such a rate is actually
    // allowed by the shutter time)
    float value;
    err=dc1394_feature_get_absolute_value(camera,DC1394_FEATURE_FRAME_RATE,&value);
    if( err != DC1394_SUCCESS )
        throw VideoException("Could not get framerate");

    cout<<" framerate(shutter permitting):"<<value<<endl;

    //-----------------------------------------------------------------------
    //  setup capture
    //-----------------------------------------------------------------------

    err=dc1394_capture_setup(camera,dma_frames, DC1394_CAPTURE_FLAGS_DEFAULT);
    if( err != DC1394_SUCCESS )
        throw VideoException("Could not setup camera - check settings");

    Start();

}
Пример #7
0
// Note:
// the following was tested on a IIDC camera over USB therefore might not work as
// well on a camera over proper firewire transport
void FirewireVideo::init_format7_camera(
    uint64_t guid, int dma_frames,
    dc1394speed_t iso_speed,
    dc1394video_mode_t video_mode,
    int framerate,
    uint32_t width, uint32_t height,
    uint32_t left, uint32_t top, bool reset_at_boot
    ) {

    if(video_mode< DC1394_VIDEO_MODE_FORMAT7_0)
        throw VideoException("roi can be specified only for format7 modes");

    camera = dc1394_camera_new (d, guid);
    if (!camera)
        throw VideoException("Failed to initialize camera");

    // Attempt to stop camera if it is already running
    dc1394switch_t is_iso_on = DC1394_OFF;
    dc1394_video_get_transmission(camera, &is_iso_on);
    if (is_iso_on==DC1394_ON) {
        dc1394_video_set_transmission(camera, DC1394_OFF);
    }

    cout << "Using camera with GUID " << camera->guid << endl;

    if(reset_at_boot){
      dc1394_camera_reset(camera);
    }

    //-----------------------------------------------------------------------
    //  setup mode and roi
    //-----------------------------------------------------------------------

    if(iso_speed >= DC1394_ISO_SPEED_800)
    {
        err=dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_1394B);
        if( err != DC1394_SUCCESS )
           throw VideoException("Could not set DC1394_OPERATION_MODE_1394B");
    }

    err=dc1394_video_set_iso_speed(camera, iso_speed);
    if( err != DC1394_SUCCESS )
        throw VideoException("Could not set iso speed");

    // check that the required mode is actually supported
    dc1394format7mode_t format7_info;

    err = dc1394_format7_get_mode_info(camera, video_mode, &format7_info);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not get format7 mode info");

    // safely set the video mode
    err=dc1394_video_set_mode(camera, video_mode);
    if( err != DC1394_SUCCESS )
        throw VideoException("Could not set format7 video mode");

    // set position to 0,0 so that setting any size within min and max is a valid command
    err = dc1394_format7_set_image_position(camera, video_mode,0,0);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not set format7 image position");

    // work out the desired image size
    width = nearest_value(width, format7_info.unit_pos_x, 0, format7_info.max_size_x - left);
    height = nearest_value(height, format7_info.unit_pos_y, 0, format7_info.max_size_y - top);

    // set size
    err = dc1394_format7_set_image_size(camera,video_mode,width,height);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not set format7 size");

    // get the info again since many parameters depend on image size
    err = dc1394_format7_get_mode_info(camera, video_mode, &format7_info);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not get format7 mode info");

    // work out position of roi
    left = nearest_value(left, format7_info.unit_size_x, format7_info.unit_size_x, format7_info.max_size_x - width);
    top = nearest_value(top, format7_info.unit_size_y, format7_info.unit_size_y, format7_info.max_size_y - height);

    // set roi position
    err = dc1394_format7_set_image_position(camera,video_mode,left,top);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not set format7 size");

    this->width = width;
    this->height = height;
    this->top = top;
    this->left = left;

    cout<<"roi: "<<left<<" "<<top<<" "<<width<<" "<<height<<"  ";


    //-----------------------------------------------------------------------
    //  setup frame rate
    //-----------------------------------------------------------------------

    if((framerate == MAX_FR)||(framerate == EXT_TRIG)){

      err=dc1394_format7_set_packet_size(camera,video_mode, format7_info.max_packet_size);
      if( err != DC1394_SUCCESS )
        throw VideoException("Could not set format7 packet size");

    } else {

      // setting packet size to get the desired frame rate according to the libdc docs
      // does not do the trick, so for now we support only max frame rate

        throw VideoException("In format 7 only max frame rate is currently supported");
      //      uint32_t depth;
      //      err = dc1394_format7_get_data_depth(camera, video_mode, &depth);
      //      if( err != DC1394_SUCCESS )
      //        throw VideoException("Could not get format7 depth");
      //
      //      // the following is straight from the libdc docs
      //      double bus_period = bus_period_from_iso_speed(iso_speed);
      //
      //      // work out the max number of packets that the bus can deliver
      //      int num_packets = (int) (1.0/(bus_period*framerate) + 0.5);
      //
      //      if((num_packets > 4095)||(num_packets < 0))
      //        throw VideoException("number of format7 packets out of range");
      //
      //      // work out what the packet size should be for the requested size and framerate
      //      uint32_t packet_size = (width*964*depth + (num_packets*8) - 1)/(num_packets*8);
      //      packet_size = nearest_value(packet_size,format7_info.unit_packet_size,format7_info.unit_packet_size,format7_info.max_packet_size);
      //
      //      if(packet_size > format7_info.max_packet_size){
      //        throw VideoException("format7 requested frame rate and size exceed bus bandwidth");
      //      }
      //
      //      err=dc1394_format7_set_packet_size(camera,video_mode, packet_size);
      //      if( err != DC1394_SUCCESS ){
      //        throw VideoException("Could not set format7 packet size");
      //      }
    }

    // ask the camera what is the resulting framerate (this assume that such a rate is actually
    // allowed by the shutter time)
    err = dc1394_feature_set_power(camera,DC1394_FEATURE_FRAME_RATE,DC1394_OFF);
    if( err != DC1394_SUCCESS )
        throw VideoException("Could not turn off frame rate");

    float value;
    err=dc1394_feature_get_absolute_value(camera,DC1394_FEATURE_FRAME_RATE,&value);
    if( err != DC1394_SUCCESS )
        throw VideoException("Could not get framerate");

    cout<<" framerate(shutter permitting):"<<value<<endl;

    //-----------------------------------------------------------------------
    //  setup capture
    //-----------------------------------------------------------------------

    err=dc1394_capture_setup(camera,dma_frames, DC1394_CAPTURE_FLAGS_DEFAULT);
    if( err != DC1394_SUCCESS )
        throw VideoException("Could not setup camera - check settings");

    Start();

}