fix webcam crash when failed to read video frame (#21272)

2021-06-15 18:25:05 +08:00 · 2021-06-15 18:25:05 +08:00 · 73d741b7be
parent a23584b6e2
commit 73d741b7be
1 changed files with 2 additions and 0 deletions
--- a/selfdrive/camerad/cameras/camera_webcam.cc
+++ b/selfdrive/camerad/cameras/camera_webcam.cc
@ -79,6 +79,8 @@ void run_camera(CameraState *s, cv::VideoCapture &video_cap, float *ts) {
  while (!do_exit) {
    cv::Mat frame_mat, transformed_mat;
    video_cap >> frame_mat;
+    if (frame_mat.empty()) continue;
+
    cv::warpPerspective(frame_mat, transformed_mat, transform, size, cv::INTER_LINEAR, cv::BORDER_CONSTANT, 0);

    s->buf.camera_bufs_metadata[buf_idx] = {.frame_id = frame_id};