From f4d762b750f848bd4e1b8fd3653e6fd4a89498e9 Mon Sep 17 00:00:00 2001
From: Nullket <25816243+nullket@users.noreply.github.com>
Date: Wed, 7 Oct 2020 07:46:39 +0200
Subject: [PATCH] Check if camera supports sensor scaling before forefully
 trying to set it

---
 src/ueye_cam_nodelet.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/ueye_cam_nodelet.cpp b/src/ueye_cam_nodelet.cpp
index 4187e14..c2d16ac 100644
--- a/src/ueye_cam_nodelet.cpp
+++ b/src/ueye_cam_nodelet.cpp
@@ -539,8 +539,10 @@ INT UEyeCamNodelet::parseROSParams(ros::NodeHandle& local_nh) {
     if ((is_err = setBinning(cam_params_.binning, false)) != IS_SUCCESS) return is_err;
     if ((is_err = setResolution(cam_params_.image_width, cam_params_.image_height,
         cam_params_.image_left, cam_params_.image_top, false)) != IS_SUCCESS) return is_err;
-    if ((is_err = setSensorScaling(cam_params_.sensor_scaling, false)) != IS_SUCCESS) return is_err;
-
+    SENSORSCALERINFO sensorScalerInfo;  // Not all cameras support sensor scaling. Check if supported and only try to set it if supported
+    if (is_GetSensorScalerInfo(cam_handle_,&sensorScalerInfo, sizeof(sensorScalerInfo)) == IS_SUCCESS ) {
+      if ((is_err = setSensorScaling(cam_params_.sensor_scaling, false)) != IS_SUCCESS) return is_err;
+    }
     // Force synchronize settings and re-allocate frame buffer for redundancy
     // NOTE: although this might not be needed, assume that parseROSParams()
     //       is called only once per nodelet, thus ignore cost