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Merrge branch: clamp_fix #19

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merged 1 commit into from
Feb 15, 2025
Merged

Merrge branch: clamp_fix #19

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2 changes: 1 addition & 1 deletion src/CameraNode.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -580,7 +580,7 @@ CameraNode::declareParameters()
// clamp default ControlValue to min/max range and cast ParameterValue
rclcpp::ParameterValue value;
try {
value = cv_to_pv(clamp(info.def(), info.min(), info.max()));
value = cv_to_pv(clamp(info.def(), info.min(), info.max(), extent));
}
catch (const invalid_conversion &e) {
RCLCPP_ERROR_STREAM(get_logger(), "unsupported control '"
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37 changes: 24 additions & 13 deletions src/clamp.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@

#define CASE_CLAMP(T) \
case libcamera::ControlType##T: \
return clamp<ControlTypeMap<libcamera::ControlType##T>::type>(value, min, max);
return clamp<ControlTypeMap<libcamera::ControlType##T>::type>(value, min, max, extent);

#define CASE_NONE(T) \
case libcamera::ControlType##T: \
Expand Down Expand Up @@ -104,16 +104,27 @@ clamp(const CTPoint &val, const CTPoint &lo, const CTPoint &hi)
template<typename T>
libcamera::ControlValue
clamp_array(const libcamera::ControlValue &value, const libcamera::ControlValue &min,
const libcamera::ControlValue &max)
const libcamera::ControlValue &max, size_t extent)
{
const libcamera::Span<const T> v = value.get<libcamera::Span<const T>>();
const libcamera::Span<const T> a = min.get<libcamera::Span<const T>>();
const libcamera::Span<const T> b = max.get<libcamera::Span<const T>>();
std::vector<T> vclamp;

std::vector<T> vclamp(v.size());
if (!value.isArray() && extent != 0) {
if (extent == libcamera::dynamic_extent) {
vclamp.push_back(std::clamp(value.get<const T>(), min.get<const T>(), max.get<const T>()));
}
else {
throw std::runtime_error("cannot clamp scalar value for fixed-extent span control");
}
}
else {
const libcamera::Span<const T> v = value.get<libcamera::Span<const T>>();
const libcamera::Span<const T> a = min.get<libcamera::Span<const T>>();
const libcamera::Span<const T> b = max.get<libcamera::Span<const T>>();

for (size_t i = 0; i < v.size(); i++)
vclamp[i] = std::clamp(v[i], a[i], b[i]);
for (size_t i = 0; i < v.size(); ++i) {
vclamp.push_back(std::clamp(v[i], a[i], b[i]));
}
}

return libcamera::ControlValue(libcamera::Span<const T>(vclamp));
}
Expand All @@ -122,23 +133,23 @@ template<typename T,
std::enable_if_t<!std::is_same<std::remove_cv_t<T>, CTBool>::value, bool> = true>
libcamera::ControlValue
clamp(const libcamera::ControlValue &value, const libcamera::ControlValue &min,
const libcamera::ControlValue &max)
const libcamera::ControlValue &max, size_t extent)
{
return value.isArray() ? clamp_array<T>(value, min, max)
: std::clamp(value.get<T>(), min.get<T>(), max.get<T>());
return (extent != 0) ? clamp_array<T>(value, min, max, extent)
: std::clamp(value.get<T>(), min.get<T>(), max.get<T>());
}

template<typename T, std::enable_if_t<std::is_same<std::remove_cv_t<T>, CTBool>::value, bool> = true>
const libcamera::ControlValue &
clamp(const libcamera::ControlValue &value, const libcamera::ControlValue & /*min*/,
const libcamera::ControlValue & /*max*/)
const libcamera::ControlValue & /*max*/, size_t /*extent*/)
{
return value;
}

libcamera::ControlValue
clamp(const libcamera::ControlValue &value, const libcamera::ControlValue &min,
const libcamera::ControlValue &max)
const libcamera::ControlValue &max, size_t extent)
{
if (min.type() != max.type())
throw invalid_conversion("minimum (" + std::to_string(min.type()) + ") and maximum (" +
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2 changes: 1 addition & 1 deletion src/clamp.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ max(const libcamera::ControlValue &value);

libcamera::ControlValue
clamp(const libcamera::ControlValue &value, const libcamera::ControlValue &min,
const libcamera::ControlValue &max);
const libcamera::ControlValue &max, size_t extent);

bool
operator<(const libcamera::ControlValue &a, const libcamera::ControlValue &b);
Expand Down