diff --git a/modules/camera/3_4/v4l2_camera.cpp b/modules/camera/3_4/v4l2_camera.cpp
index 2bc0c9f..22406c9 100644
--- a/modules/camera/3_4/v4l2_camera.cpp
+++ b/modules/camera/3_4/v4l2_camera.cpp
@@ -413,6 +413,11 @@
   for (uint32_t i = 0; i < stream_config->num_streams; ++i) {
     stream = stream_config->streams[i];
 
+    // Override HAL_PIXEL_FORMAT_IMPLEMENTATION_DEFINED format.
+    if (stream->format == HAL_PIXEL_FORMAT_IMPLEMENTATION_DEFINED) {
+      stream->format = HAL_PIXEL_FORMAT_RGBA_8888;
+    }
+
     // Max buffers as reported by the device.
     stream->max_buffers = max_buffers;