diff --git a/LibCarla/source/carla/sensor/data/LidarData.h b/LibCarla/source/carla/sensor/data/LidarData.h
index 73d325047..cc5e3a89f 100644
--- a/LibCarla/source/carla/sensor/data/LidarData.h
+++ b/LibCarla/source/carla/sensor/data/LidarData.h
@@ -79,13 +79,10 @@ namespace data {
 
     ~LidarData() = default;
 
-    virtual void ResetSerPoints(std::vector<uint32_t> points_per_channel) {
+    virtual void ResetMemory(std::vector<uint32_t> points_per_channel) {
       DEBUG_ASSERT(GetChannelCount() > points_per_channel.size());
       std::memset(_header.data() + Index::SIZE, 0, sizeof(uint32_t) * GetChannelCount());
 
-      for (auto idxChannel = 0u; idxChannel < GetChannelCount(); ++idxChannel)
-        _header[Index::SIZE + idxChannel] = points_per_channel[idxChannel];
-
       uint32_t total_points = static_cast<uint32_t>(
           std::accumulate(points_per_channel.begin(), points_per_channel.end(), 0));
 
diff --git a/LibCarla/source/carla/sensor/data/SemanticLidarData.h b/LibCarla/source/carla/sensor/data/SemanticLidarData.h
index 30d711d05..ef0e6f0a6 100644
--- a/LibCarla/source/carla/sensor/data/SemanticLidarData.h
+++ b/LibCarla/source/carla/sensor/data/SemanticLidarData.h
@@ -110,13 +110,10 @@ namespace data {
       return _header[Index::ChannelCount];
     }
 
-    virtual void ResetSerPoints(std::vector<uint32_t> points_per_channel) {
+    virtual void ResetMemory(std::vector<uint32_t> points_per_channel) {
       DEBUG_ASSERT(GetChannelCount() > points_per_channel.size());
       std::memset(_header.data() + Index::SIZE, 0, sizeof(uint32_t) * GetChannelCount());
 
-      for (auto idxChannel = 0u; idxChannel < GetChannelCount(); ++idxChannel)
-        _header[Index::SIZE + idxChannel] = points_per_channel[idxChannel];
-
       uint32_t total_points = static_cast<uint32_t>(
           std::accumulate(points_per_channel.begin(), points_per_channel.end(), 0));
 
@@ -124,6 +121,11 @@ namespace data {
       _ser_points.reserve(total_points);
     }
 
+    virtual void WriteChannelCount(std::vector<uint32_t> points_per_channel) {
+      for (auto idxChannel = 0u; idxChannel < GetChannelCount(); ++idxChannel)
+        _header[Index::SIZE + idxChannel] = points_per_channel[idxChannel];
+    }
+
     virtual void WritePointSync(SemanticLidarDetection &detection) {
       _ser_points.emplace_back(detection);
     }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp
index e0214dc01..beac45e3e 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp
@@ -125,13 +125,18 @@ ARayCastLidar::FDetection ARayCastLidar::ComputeDetection(const FHitResult& HitI
   void ARayCastLidar::ComputeAndSaveDetections(const FTransform& SensorTransform) {
     for (auto idxChannel = 0u; idxChannel < Description.Channels; ++idxChannel)
       PointsPerChannel[idxChannel] = RecordedHits[idxChannel].size();
-    LidarData.ResetSerPoints(PointsPerChannel);
+
+    LidarData.ResetMemory(PointsPerChannel);
 
     for (auto idxChannel = 0u; idxChannel < Description.Channels; ++idxChannel) {
       for (auto& hit : RecordedHits[idxChannel]) {
         FDetection Detection = ComputeDetection(hit, SensorTransform);
         if (PostprocessDetection(Detection))
           LidarData.WritePointSync(Detection);
+        else
+          PointsPerChannel[idxChannel]--;
       }
     }
+
+    LidarData.WriteChannelCount(PointsPerChannel);
   }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastSemanticLidar.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastSemanticLidar.cpp
index b3da64ac9..c69911d82 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastSemanticLidar.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastSemanticLidar.cpp
@@ -160,7 +160,7 @@ void ARayCastSemanticLidar::WritePointAsync(uint32_t channel, FHitResult &detect
 void ARayCastSemanticLidar::ComputeAndSaveDetections(const FTransform& SensorTransform) {
   for (auto idxChannel = 0u; idxChannel < Description.Channels; ++idxChannel)
     PointsPerChannel[idxChannel] = RecordedHits[idxChannel].size();
-  SemanticLidarData.ResetSerPoints(PointsPerChannel);
+  SemanticLidarData.ResetMemory(PointsPerChannel);
 
   for (auto idxChannel = 0u; idxChannel < Description.Channels; ++idxChannel) {
     for (auto& hit : RecordedHits[idxChannel]) {
@@ -169,6 +169,8 @@ void ARayCastSemanticLidar::ComputeAndSaveDetections(const FTransform& SensorTra
       SemanticLidarData.WritePointSync(detection);
     }
   }
+
+  SemanticLidarData.WriteChannelCount(PointsPerChannel);
 }
 
 void ARayCastSemanticLidar::ComputeRawDetection(const FHitResult& HitInfo, const FTransform& SensorTransf, FSemanticDetection& Detection) const
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastSemanticLidar.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastSemanticLidar.h
index 7269c8297..51da54951 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastSemanticLidar.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastSemanticLidar.h
@@ -46,7 +46,7 @@ protected:
   void CreateLasers();
 
   /// Updates LidarMeasurement with the points read in DeltaTime.
-  void SimulateLidar(float DeltaTime);
+  void SimulateLidar(const float DeltaTime);
 
   /// Shoot a laser ray-trace, return whether the laser hit something.
   bool ShootLaser(const float VerticalAngle, float HorizontalAngle, FHitResult &HitResult) const;