chore: refactor

Signed-off-by: badai-nguyen <[email protected]>
tier4 · Jun 9, 2024 · 281b7fc · 281b7fc
1 parent 68c5d86
commit 281b7fc
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/perception/image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp b/perception/image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp
@@ -96,6 +96,8 @@ void SegmentPointCloudFusionNode::fuseOnSingleImage(
   output_cloud.header = input_pointcloud_msg.header;
   output_cloud.height = input_pointcloud_msg.height;
   output_cloud.point_step = input_pointcloud_msg.point_step;
+  output_cloud.is_bigendian = input_pointcloud_msg.is_bigendian;
+  output_cloud.is_dense = input_pointcloud_msg.is_dense;
   for (size_t global_offset = 0; global_offset < transformed_cloud.data.size();
        global_offset += point_step) {
     float transformed_x =
@@ -142,8 +144,6 @@ void SegmentPointCloudFusionNode::fuseOnSingleImage(
 
   output_cloud.data.resize(output_pointcloud_size);
   output_cloud.row_step = output_pointcloud_size / output_cloud.height;
-  output_cloud.is_bigendian = input_pointcloud_msg.is_bigendian;
-  output_cloud.is_dense = input_pointcloud_msg.is_dense;
   output_cloud.width = output_pointcloud_size / output_cloud.point_step / output_cloud.height;
 }