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ut-amrl · Dec 3, 2024 · 46e38a0 · 46e38a0
1 parent 3ff5139
commit 46e38a0
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/cuda_depth_to_lidar.cc b/src/cuda_depth_to_lidar.cc
@@ -360,13 +360,13 @@ class DepthToLidar : public K4AWrapper {
     }
 
     if (depth_image == nullptr) return;
-    PublishScan(stamp_time);
     if (FLAGS_depth) {
       PublishDepthImage(depth_image, stamp_time);
     }
     if (FLAGS_points) {
       DepthToPointCloud(color_image, depth_image);
       PublishPointCloud(stamp_time);
+      PublishScan(stamp_time);
     }
   }
 

diff --git a/src/depth_to_lidar.cc b/src/depth_to_lidar.cc
@@ -370,14 +370,14 @@ class DepthToLidar : public K4AWrapper {
     }
 
     if (depth_image == nullptr) return;
-    PublishScan(stamp_time);
     if (FLAGS_depth) {
       // TODO consider publishing camera info also with same timestamp
       PublishDepthImage(depth_image, stamp_time);
     }
     if (FLAGS_points) {
       DepthToPointCloud(color_image, depth_image);
       PublishPointCloud(stamp_time);
+      PublishScan(stamp_time);
     }
   }