chore: minimize mutex scope

Signed-off-by: badai-nguyen <[email protected]>

perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp

@@ -32,7 +32,7 @@ void DistanceBasedStaticMapLoader::onMapCallback(
   pcl::PointCloud<pcl::PointXYZ> map_pcl;
   pcl::fromROSMsg<pcl::PointXYZ>(*map, map_pcl);
   const auto map_pcl_ptr = pcl::make_shared<pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
-  std::lock_guard<std::mutex> lock(static_map_loader_mutex_);
+  std::unique_lock<std::mutex> lock(static_map_loader_mutex_);
   map_ptr_ = map_pcl_ptr;
   *tf_map_input_frame_ = map_ptr_->header.frame_id;
   if (!tree_) {
@@ -43,6 +43,7 @@ void DistanceBasedStaticMapLoader::onMapCallback(
     }
   }
   tree_->setInputCloud(map_ptr_);
+  lock.unlock();
 }
 
 bool DistanceBasedStaticMapLoader::is_close_to_map(

perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp

@@ -29,7 +29,6 @@ namespace autoware::compare_map_segmentation
 bool VoxelBasedApproximateStaticMapLoader::is_close_to_map(
   const pcl::PointXYZ & point, [[maybe_unused]] const double distance_threshold)
 {
-  std::lock_guard<std::mutex> lock(static_map_loader_mutex_);
   if (voxel_map_ptr_ == NULL) {
     return false;
   }

perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp

@@ -261,12 +261,13 @@ void VoxelGridStaticMapLoader::onMapCallback(
   pcl::fromROSMsg<pcl::PointXYZ>(*map, map_pcl);
   const auto map_pcl_ptr = pcl::make_shared<pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
   *tf_map_input_frame_ = map_pcl_ptr->header.frame_id;
-  std::lock_guard<std::mutex> lock(static_map_loader_mutex_);
+  std::unique_lock<std::mutex> lock(static_map_loader_mutex_);
   voxel_map_ptr_.reset(new pcl::PointCloud<pcl::PointXYZ>);
   voxel_grid_.setLeafSize(voxel_leaf_size_, voxel_leaf_size_, voxel_leaf_size_z_);
   voxel_grid_.setInputCloud(map_pcl_ptr);
   voxel_grid_.setSaveLeafLayout(true);
   voxel_grid_.filter(*voxel_map_ptr_);
+  lock.unlock();
 
   if (debug_) {
     publish_downsampled_map(*voxel_map_ptr_);