Thread-safe vector insertion while using OpenMP

8 years ago · 2c089f60ff
parent 53e34260b1
commit 2c089f60ff
1 changed files with 6 additions and 1 deletions
--- 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);