From 6e60a8714e35c257ca82abace807b5f45a220458 Mon Sep 17 00:00:00 2001
From: Christian Rauch <Rauch.Christian@gmx.de>
Date: Fri, 21 Jun 2024 20:48:31 +0200
Subject: [PATCH] handle dynamic extend in array size check

---
 src/CameraNode.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/CameraNode.cpp b/src/CameraNode.cpp
index 56739aa8..378b92b7 100644
--- a/src/CameraNode.cpp
+++ b/src/CameraNode.cpp
@@ -713,9 +713,12 @@ CameraNode::onParameterChange(const std::vector<rclcpp::Parameter> &parameters)
         }
 
         const std::size_t extent = get_extent(id);
-        if ((value.isArray() && (extent > 0)) && value.numElements() != extent) {
+        if (value.isArray() &&
+            (extent != libcamera::dynamic_extent) &&
+            (value.numElements() != extent))
+        {
           result.successful = false;
-          result.reason = parameter.get_name() + ": parameter dimensions mismatch, expected " +
+          result.reason = parameter.get_name() + ": array dimensions mismatch, expected " +
                           std::to_string(extent) + ", got " + std::to_string(value.numElements());
           return result;
         }