From f0a903c98f4974eed9bb9598c7e9e7aad907dba0 Mon Sep 17 00:00:00 2001
From: Ben Zhang <5977478+ben-z@users.noreply.github.com>
Date: Tue, 10 Jun 2025 01:23:33 -0700
Subject: [PATCH] Fix unable to set camera width/height to non-default (#1225)

---
 .../common/cameras/opencv/camera_opencv.py    | 19 +++++++++++--------
 1 file changed, 11 insertions(+), 8 deletions(-)

diff --git a/lerobot/common/cameras/opencv/camera_opencv.py b/lerobot/common/cameras/opencv/camera_opencv.py
index 7a2f1b32..3e9370fc 100644
--- a/lerobot/common/cameras/opencv/camera_opencv.py
+++ b/lerobot/common/cameras/opencv/camera_opencv.py
@@ -225,16 +225,19 @@ class OpenCVCamera(Camera):
     def _validate_width_and_height(self) -> None:
         """Validates and sets the camera's frame capture width and height."""
 
-        success = self.videocapture.set(cv2.CAP_PROP_FRAME_WIDTH, float(self.capture_width))
-        actual_width = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_WIDTH)))
-        if not success or self.capture_width != actual_width:
-            raise RuntimeError(f"{self} failed to set capture_width={self.capture_width} ({actual_width=}).")
+        width_success = self.videocapture.set(cv2.CAP_PROP_FRAME_WIDTH, float(self.capture_width))
+        height_success = self.videocapture.set(cv2.CAP_PROP_FRAME_HEIGHT, float(self.capture_height))
 
-        success = self.videocapture.set(cv2.CAP_PROP_FRAME_HEIGHT, float(self.capture_height))
-        actual_height = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_HEIGHT)))
-        if not success or self.capture_height != actual_height:
+        actual_width = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_WIDTH)))
+        if not width_success or self.capture_width != actual_width:
             raise RuntimeError(
-                f"{self} failed to set capture_height={self.capture_height} ({actual_height})."
+                f"{self} failed to set capture_width={self.capture_width} ({actual_width=}, {width_success=})."
+            )
+
+        actual_height = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_HEIGHT)))
+        if not height_success or self.capture_height != actual_height:
+            raise RuntimeError(
+                f"{self} failed to set capture_height={self.capture_height} ({actual_height=}, {height_success=})."
             )
 
     @staticmethod