message: made mutex a part of voxel update call
diff: @@ -226,6 +226,10 @@ class TsdfIntegratorBase {
  }
  }
  + // Grab and lock the mutex responsible for this voxel
  + std::lock_guard<std::mutex> lock(
  + mutexes_.get(getGridIndexFromPoint(point_G, voxel_size_inv_)));
  +
  const float new_weight = tsdf_voxel->weight + updated_weight;
  tsdf_voxel->color = Color::blendTwoColors(
  tsdf_voxel->color, tsdf_voxel->weight, color, updated_weight);
  @@ -365,7 +369,6 @@ class SimpleTsdfIntegrator : public TsdfIntegratorBase {
  const float weight = getVoxelWeight(point_C);
  - std::lock_guard<std::mutex> lock(mutexes_.get(global_voxel_idx));
  updateTsdfVoxel(origin, point_G, voxel_center_G, color,
  truncation_distance, weight, &tsdf_voxel);
  }
  @@ -691,7 +694,6 @@ class FastTsdfIntegrator : public TsdfIntegratorBase {
  const float weight = getVoxelWeight(point_C);
  - std::lock_guard<std::mutex> lock(mutexes_.get(global_voxel_idx));
  updateTsdfVoxel(origin, point_G, voxel_center_G, color,
  truncation_distance, weight, &tsdf_voxel);
  }
  