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fix: update device changed callback unregistration to use INVALID_CALLBACK_ID constant

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ob-yalian
2025-12-15 16:43:27 +08:00
parent c9b25331f3
commit 84d50d1499
2 changed files with 2 additions and 4 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+2 -2
View File
@@ -167,10 +167,10 @@ OBCameraNodeDriver::~OBCameraNodeDriver() {
} }
// Unregister device changed callback before destroying context // Unregister device changed callback before destroying context
if (ctx_ && device_changed_callback_id_ != 0) { if (ctx_ && device_changed_callback_id_ != INVALID_CALLBACK_ID) {
try { try {
ctx_->unregisterDeviceChangedCallback(device_changed_callback_id_); ctx_->unregisterDeviceChangedCallback(device_changed_callback_id_);
device_changed_callback_id_ = 0; device_changed_callback_id_ = INVALID_CALLBACK_ID;
} catch (...) { } catch (...) {
RCLCPP_WARN_STREAM(logger_, RCLCPP_WARN_STREAM(logger_,
"Exception during device changed callback unregister in destructor"); "Exception during device changed callback unregister in destructor");
orbbec_camera/src/utils.cpp
-2
View File
@@ -199,8 +199,6 @@ void savePointsToPly(const std::shared_ptr<ob::Frame> &frame, const std::string
tf2::Quaternion rotationMatrixToQuaternion(const float rotation[9]) { tf2::Quaternion rotationMatrixToQuaternion(const float rotation[9]) {
Eigen::Matrix3f m; Eigen::Matrix3f m;
// We need to be careful about the order, as RS2 rotation matrix is
// column-major, while Eigen::Matrix3f expects row-major.
m << rotation[0], rotation[1], rotation[2], rotation[3], rotation[4], rotation[5], rotation[6], m << rotation[0], rotation[1], rotation[2], rotation[3], rotation[4], rotation[5], rotation[6],
rotation[7], rotation[8]; rotation[7], rotation[8];
Eigen::Quaternionf q(m); Eigen::Quaternionf q(m);