From 2563b652498eb37ca1d7ea69f52634699a8c35ed Mon Sep 17 00:00:00 2001
From: rdb <git@rdb.name>
Date: Sun, 11 Mar 2018 16:32:33 +0100
Subject: [PATCH] video4linux: support greyscale pixel format (eg. IR cameras)

---
 panda/src/vision/webcamVideoCursorV4L.cxx | 5 +++++
 panda/src/vision/webcamVideoV4L.cxx       | 1 +
 2 files changed, 6 insertions(+)

diff --git a/panda/src/vision/webcamVideoCursorV4L.cxx b/panda/src/vision/webcamVideoCursorV4L.cxx
index 64090c53aa..497115c0dd 100644
--- a/panda/src/vision/webcamVideoCursorV4L.cxx
+++ b/panda/src/vision/webcamVideoCursorV4L.cxx
@@ -247,6 +247,10 @@ WebcamVideoCursorV4L(WebcamVideoV4L *src) : MovieVideoCursor(src) {
     _num_components = 4;
     break;
 
+  case V4L2_PIX_FMT_GREY:
+    _num_components = 1;
+    break;
+
   default:
     vision_cat.error() << "Unsupported pixel format " << src->get_pixel_format() << "!\n";
     _ready = false;
@@ -484,6 +488,7 @@ fetch_buffer() {
 
   case V4L2_PIX_FMT_BGR24:
   case V4L2_PIX_FMT_BGR32:
+  case V4L2_PIX_FMT_GREY:
     // Simplest case: copying every row verbatim.
     nassertr(old_bpl == new_bpl, NULL);
 
diff --git a/panda/src/vision/webcamVideoV4L.cxx b/panda/src/vision/webcamVideoV4L.cxx
index b07e1b2071..7d5636f4e0 100644
--- a/panda/src/vision/webcamVideoV4L.cxx
+++ b/panda/src/vision/webcamVideoV4L.cxx
@@ -174,6 +174,7 @@ void find_all_webcams_v4l() {
             case V4L2_PIX_FMT_BGR32:
             case V4L2_PIX_FMT_RGB24:
             case V4L2_PIX_FMT_RGB32:
+            case V4L2_PIX_FMT_GREY:
               break;
 
             default: