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Fix for nasty intermittent TBB crashes in testEssentialMatrixFactor and testGeneralSFMFactor. Fixes issue 93

release/4.3a0
cbeall3 2014-10-14 16:30:13 -04:00
parent 2560ddef99
commit fcc49bd22a
2 changed files with 11 additions and 8 deletions
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12
gtsam/geometry/Unit3.cpp
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@ -67,11 +67,11 @@ Unit3 Unit3::Random(boost::mt19937 & rng) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
const Matrix& Unit3::basis() const { const Unit3::Matrix32& Unit3::basis() const {
// Return cached version if exists // Return cached version if exists
if (B_.rows() == 3) 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
Point3 axis; Point3 axis;
@ -92,9 +92,9 @@ const Matrix& Unit3::basis() const {
b2 = b2 / b2.norm(); b2 = b2 / b2.norm();
// Create the basis matrix // Create the basis matrix
B_ = Matrix(3, 2); B_.reset(Unit3::Matrix32());
B_ << b1.x(), b2.x(), b1.y(), b2.y(), b1.z(), b2.z(); (*B_) << b1.x(), b2.x(), b1.y(), b2.y(), b1.z(), b2.z();
return B_; return *B_;
} }
/* ************************************************************************* */ /* ************************************************************************* */

7
gtsam/geometry/Unit3.h
View File

@ -23,6 +23,7 @@
#include <gtsam/geometry/Point3.h> #include <gtsam/geometry/Point3.h>
#include <gtsam/base/DerivedValue.h> #include <gtsam/base/DerivedValue.h>
#include <boost/random/mersenne_twister.hpp> #include <boost/random/mersenne_twister.hpp>
#include <boost/optional.hpp>
namespace gtsam { namespace gtsam {
@ -31,8 +32,10 @@ class GTSAM_EXPORT Unit3: public DerivedValue<Unit3> {
private: private:
typedef Eigen::Matrix<double,3,2> Matrix32;
Point3 p_; ///< The location of the point on the unit sphere Point3 p_; ///< The location of the point on the unit sphere
mutable Matrix B_; ///< Cached basis mutable boost::optional<Matrix32> B_; ///< Cached basis
public: public:
@ -84,7 +87,7 @@ public:
* It is a 3*2 matrix [b1 b2] composed of two orthogonal directions * It is a 3*2 matrix [b1 b2] composed of two orthogonal directions
* tangent to the sphere at the current direction. * tangent to the sphere at the current direction.
*/ */
const Matrix& basis() const; const Matrix32& basis() const;
/// Return skew-symmetric associated with 3D point on unit sphere /// Return skew-symmetric associated with 3D point on unit sphere
Matrix skew() const; Matrix skew() const;