20210908, add some cloud lock.

setting/velodyne_manager.prototxt

@@ -78,11 +78,11 @@ velodyne_lidars
 # 1 region
 region
 {
-    minx:-10.5
-	maxx:13.1
-	miny:-2.0
-	maxy:2.75
-	minz:0.02
+    minx:-3.5
+	maxx:0.0
+	miny:-2.5
+	maxy:2.7
+	minz:-0.02
 	maxz:0.2
     region_id:0
     lidar_exts

velodyne_lidar/ground_region.h

@@ -67,7 +67,9 @@ public:
       switch (type)
       {
       case Region_cloud_type::total:
+         m_cloud_collection_mutex.lock();
          out_cloud->operator+=(*mp_cloud_collection);
+         m_cloud_collection_mutex.unlock();
          // LOG(WARNING) << "region cloud size: " << mp_cloud_collection->size();
          break;
       case Region_cloud_type::left_front:
@@ -83,7 +85,9 @@ public:
          out_cloud->operator+=(m_detector->m_right_rear_cloud);
          break;
       case Region_cloud_type::filtered:
+         m_filtered_cloud_mutex.lock();
          out_cloud->operator+=(*mp_cloud_filtered);
+         m_filtered_cloud_mutex.unlock();
          break;
       }
    }

velodyne_lidar/velodyne_manager.cpp

@@ -471,7 +471,7 @@ Error_manager Velodyne_manager::update_region_cloud()
 		}
 
 		iter->second->update_cloud(t_region_cloud);
-		// LOG(WARNING) << "send to region" << iter->first << "with cloud size: " << t_region_cloud->size();
+		// LOG(WARNING) << "send to region " << iter->first << " with cloud size: " << t_region_cloud->size();
 	}
 	return Error_code::SUCCESS;
 }