From 85ad0c55547b178c20f87b129a6ccaa6d798ffc9 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sun, 27 Oct 2024 18:06:31 -0700
Subject: [PATCH] more checks and warnings

---
 corelib/src/camera/CameraStereoVideo.cpp | 25 ++++++++++++++++----
 corelib/src/camera/CameraVideo.cpp       | 30 +++++++++++++++++++-----
 2 files changed, 45 insertions(+), 10 deletions(-)

diff --git a/corelib/src/camera/CameraStereoVideo.cpp b/corelib/src/camera/CameraStereoVideo.cpp
index c11bc36624..3b1f1c41fb 100644
--- a/corelib/src/camera/CameraStereoVideo.cpp
+++ b/corelib/src/camera/CameraStereoVideo.cpp
@@ -209,12 +209,29 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s
 
 			if(capture_.isOpened())
 			{
-				capture_.set(CV_CAP_PROP_FRAME_WIDTH, stereoModel_.left().imageWidth()*(capture2_.isOpened()?1:2));
-				capture_.set(CV_CAP_PROP_FRAME_HEIGHT, stereoModel_.left().imageHeight());
+				bool resolutionSet = false;
+				resolutionSet = capture_.set(CV_CAP_PROP_FRAME_WIDTH, stereoModel_.left().imageWidth()*(capture2_.isOpened()?1:2));
+				resolutionSet = resolutionSet && capture_.set(CV_CAP_PROP_FRAME_HEIGHT, stereoModel_.left().imageHeight());
 				if(capture2_.isOpened())
 				{
-					capture2_.set(CV_CAP_PROP_FRAME_WIDTH, stereoModel_.right().imageWidth());
-					capture2_.set(CV_CAP_PROP_FRAME_HEIGHT, stereoModel_.right().imageHeight());
+					resolutionSet = resolutionSet && capture2_.set(CV_CAP_PROP_FRAME_WIDTH, stereoModel_.right().imageWidth());
+					resolutionSet = resolutionSet && capture2_.set(CV_CAP_PROP_FRAME_HEIGHT, stereoModel_.right().imageHeight());
+				}
+
+				// Check if the resolution was set successfully
+				int actualWidth = int(capture_.get(CV_CAP_PROP_FRAME_WIDTH));
+				int actualHeight = int(capture_.get(CV_CAP_PROP_FRAME_HEIGHT));
+				if(!resolutionSet ||
+				   actualWidth != stereoModel_.left().imageWidth()*(capture2_.isOpened()?1:2) ||
+				   actualHeight != stereoModel_.left().imageHeight())
+				{
+					UERROR("Calibration resolution (%dx%d) cannot be set to camera driver, "
+					      "actual resolution is %dx%d. You would have to re-calibrate with one "
+						  "supported format by your camera. "
+						  "Do \"v4l2-ctl --list-formats-ext\" to list all supported "
+						  "formats by your camera. For side-by-side format, you should set listed width/2.",
+						  stereoModel_.left().imageWidth(), stereoModel_.left().imageHeight(),
+						  actualWidth/(capture2_.isOpened()?1:2), actualHeight);
 				}
 			}
 		}
diff --git a/corelib/src/camera/CameraVideo.cpp b/corelib/src/camera/CameraVideo.cpp
index 4bb12db890..9a0a70d0d9 100644
--- a/corelib/src/camera/CameraVideo.cpp
+++ b/corelib/src/camera/CameraVideo.cpp
@@ -141,19 +141,37 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string
 						_width, _height,
 						_model.imageWidth(), _model.imageHeight());
 				}
-				
-				_capture.set(CV_CAP_PROP_FRAME_WIDTH, _model.imageWidth());
-				_capture.set(CV_CAP_PROP_FRAME_HEIGHT, _model.imageHeight());
+
+				bool resolutionSet = false;
+				resolutionSet = _capture.set(CV_CAP_PROP_FRAME_WIDTH, _model.imageWidth());
+				resolutionSet = resolutionSet && _capture.set(CV_CAP_PROP_FRAME_HEIGHT, _model.imageHeight());
+
+				// Check if the resolution was set successfully
+				int actualWidth = int(_capture.get(CV_CAP_PROP_FRAME_WIDTH));
+				int actualHeight = int(_capture.get(CV_CAP_PROP_FRAME_HEIGHT));
+				if(!resolutionSet ||
+				   actualWidth != _model.imageWidth() ||
+				   actualHeight != _model.imageHeight())
+				{
+					UERROR("Calibration resolution (%dx%d) cannot be set to camera driver, "
+					      "actual resolution is %dx%d. You would have to re-calibrate with one "
+						  "supported format by your camera. "
+						  "Do \"v4l2-ctl --list-formats-ext\" to list all supported "
+						  "formats by your camera.",
+						  _model.imageWidth(), _model.imageHeight(),
+						  actualWidth, actualHeight);
+				}
 			}
 			else if(_width > 0 && _height > 0)
 			{
-				_capture.set(CV_CAP_PROP_FRAME_WIDTH, _width);
-				_capture.set(CV_CAP_PROP_FRAME_HEIGHT, _height);
+				int resolutionSet = false;
+				resolutionSet = _capture.set(CV_CAP_PROP_FRAME_WIDTH, _width);
+				resolutionSet = resolutionSet && _capture.set(CV_CAP_PROP_FRAME_HEIGHT, _height);
 
 				// Check if the resolution was set successfully
 				int actualWidth = int(_capture.get(CV_CAP_PROP_FRAME_WIDTH));
 				int actualHeight = int(_capture.get(CV_CAP_PROP_FRAME_HEIGHT));
-				if(actualWidth != _width || actualHeight != _height)
+				if(!resolutionSet || actualWidth != _width || actualHeight != _height)
 				{
 					UWARN("Desired resolution (%dx%d) cannot be set to camera driver, "
 					      "actual resolution is %dx%d. "