From def897a2c7b0885a440aadeff17d8d266a5a8adc Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 15 Jun 2021 18:25:05 +0800
Subject: [PATCH] fix webcam crash when failed to read video frame (#21272)

old-commit-hash: 73d741b7be4337b4e8dd39e150ee253b62b86153
---
 selfdrive/camerad/cameras/camera_webcam.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/camerad/cameras/camera_webcam.cc b/selfdrive/camerad/cameras/camera_webcam.cc
index 0d0e53a3a1..377359d4de 100644
--- 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};