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Moved mutex around smaller block

release/4.3a0
Frank Dellaert 2015-07-11 20:00:56 -07:00
parent 5c406dc7c7
commit c8cf14d4b9
1 changed files with 9 additions and 9 deletions
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18
gtsam/geometry/Unit3.cpp
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@ -69,18 +69,13 @@ Unit3 Unit3::Random(boost::mt19937 & rng) {
} }
#ifdef GTSAM_USE_TBB #ifdef GTSAM_USE_TBB
tbb::mutex unit3BasisMutex; static tbb::mutex unit3BasisMutex;
#endif #endif
/* ************************************************************************* */ /* ************************************************************************* */
const Matrix32& Unit3::basis() const { const Matrix32& Unit3::basis() const {
#ifdef GTSAM_USE_TBB
tbb::mutex::scoped_lock lock(unit3BasisMutex);
#endif
// Return cached version if exists // Return cached version if exists
if (B_) if (B_) return *B_;
return *B_;
// Get the axis of rotation with the minimum projected length of the point // Get the axis of rotation with the minimum projected length of the point
Vector3 axis; Vector3 axis;
@ -99,8 +94,13 @@ const Matrix32& Unit3::basis() const {
Vector3 b2 = p_.cross(b1).normalized(); Vector3 b2 = p_.cross(b1).normalized();
// Create the basis matrix // Create the basis matrix
B_.reset(Matrix32()); {
(*B_) << b1, b2; #ifdef GTSAM_USE_TBB
tbb::mutex::scoped_lock lock(unit3BasisMutex);
#endif
B_.reset(Matrix32());
(*B_) << b1, b2;
}
return *B_; return *B_;
} }