Thread-safe vector insertion while using OpenMP

2c089f60 · Hamdi Sahloul · 53e34260 · 2c089f60
Commit 2c089f60 authored Mar 09, 2017 by Hamdi Sahloul
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ppf_match_3d.cpp modules/surface_matching/src/ppf_match_3d.cpp +6 -1

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--- a/modules/surface_matching/src/ppf_match_3d.cpp
+++ b/modules/surface_matching/src/ppf_match_3d.cpp
@@ -645,7 +645,12 @@ void PPF3DDetector::match(const Mat& pc, std::vector<Pose3DPtr>& results, const

    Pose3DPtr pose(new Pose3D(alpha, refIndMax, maxVotes));
    pose->updatePose(rawPose);
-    poseList.push_back(pose);
+    #if defined (_OPENMP)
+    #pragma omp critical
+    #endif
+    {
+      poseList.push_back(pose);
+    }

 #if defined (_OPENMP)
    free(accumulator);