fix(compare_map_segmentation): missing mutux

Signed-off-by: badai-nguyen <[email protected]>
autowarefoundation · Oct 17, 2024 · 0d6d565 · 0d6d565
1 parent 37808bf
commit 0d6d565
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/...ion/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp b/...ion/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp
@@ -197,17 +197,21 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader
   inline pcl::PointCloud<pcl::PointXYZ> getCurrentDownsampledMapPc() const
   {
     pcl::PointCloud<pcl::PointXYZ> output;
+    (*mutex_ptr_).lock();
     for (const auto & kv : current_voxel_grid_dict_) {
       output = output + *(kv.second.map_cell_pc_ptr);
     }
+    (*mutex_ptr_).unlock();
     return output;
   }
   inline std::vector<std::string> getCurrentMapIDs() const
   {
     std::vector<std::string> current_map_ids{};
+    (*mutex_ptr_).lock();
     for (auto & kv : current_voxel_grid_dict_) {
       current_map_ids.push_back(kv.first);
     }
+    (*mutex_ptr_).unlock();
     return current_map_ids;
   }
   inline void updateDifferentialMapCells(