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fix(image_projection_based_fusion): fix bug (#6411)
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Signed-off-by: kminoda <[email protected]>
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kminoda authored Feb 14, 2024
1 parent b09bf92 commit 1dac00b
Showing 1 changed file with 2 additions and 1 deletion.
3 changes: 2 additions & 1 deletion perception/image_projection_based_fusion/src/fusion_node.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -167,7 +167,6 @@ void FusionNode<Msg, Obj, Msg2D>::subCallback(const typename Msg::ConstSharedPtr
timer_->cancel();
postprocess(*(cached_msg_.second));
publish(*(cached_msg_.second));
cached_msg_.second = nullptr;
std::fill(is_fused_.begin(), is_fused_.end(), false);

// add processing time for debug
Expand All @@ -187,6 +186,8 @@ void FusionNode<Msg, Obj, Msg2D>::subCallback(const typename Msg::ConstSharedPtr
"debug/pipeline_latency_ms", pipeline_latency_ms);
processing_time_ms = 0;
}

cached_msg_.second = nullptr;
}

std::lock_guard<std::mutex> lock(mutex_cached_msgs_);
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