From 48169e7776cc54fbb2e6894da673a834b4cd711b Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@skyd.io>
Date: Sat, 11 Jul 2015 21:14:45 -0700
Subject: [PATCH] restored mutex to original scope

---
 gtsam/geometry/Unit3.cpp | 13 ++++++-------
 1 file changed, 6 insertions(+), 7 deletions(-)

diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp
index aad128816..922b1e940 100644
--- a/gtsam/geometry/Unit3.cpp
+++ b/gtsam/geometry/Unit3.cpp
@@ -74,6 +74,10 @@ static tbb::mutex unit3BasisMutex;
 
 /* ************************************************************************* */
 const Matrix32& Unit3::basis() const {
+#ifdef GTSAM_USE_TBB
+    tbb::mutex::scoped_lock lock(unit3BasisMutex);
+#endif
+
   // Return cached version if exists
   if (B_) return *B_;
 
@@ -94,13 +98,8 @@ const Matrix32& Unit3::basis() const {
   Vector3 b2 = p_.cross(b1).normalized();
 
   // Create the basis matrix
-  {
-#ifdef GTSAM_USE_TBB
-    tbb::mutex::scoped_lock lock(unit3BasisMutex);
-#endif
-    B_.reset(Matrix32());
-    (*B_) << b1, b2;
-  }
+  B_.reset(Matrix32());
+  (*B_) << b1, b2;
   return *B_;
 }