Point cloud update is not running?

[jc211]

Not sure if this code ever updates the point cloud as it returns inside the wait.

void OpenNI2CloudDataSource::update() {
  {
    std::unique_lock<std::mutex> lk(mutex_updated_);
    updated_cond_.wait(lk, [this] {
#ifdef USE_NITE2
      return updated_color_image_ && updated_user_image_;
#else
      return updated_color_image_ && updated_depth_image_;
#endif
    });

#ifdef USE_NITE2
    updated_color_image_ = updated_user_image_ = false;
#else
    updated_color_image_ = updated_depth_image_ = false;
#endif
  }

  updatePointCloud(util::now());
}