From 2c089f60ff18fe142c003201ffca1344be2d4d21 Mon Sep 17 00:00:00 2001
From: Hamdi Sahloul <hamdisahloul@hotmail.com>
Date: Thu, 9 Mar 2017 18:23:14 +0900
Subject: [PATCH] Thread-safe vector insertion while using OpenMP

---
 modules/surface_matching/src/ppf_match_3d.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/modules/surface_matching/src/ppf_match_3d.cpp b/modules/surface_matching/src/ppf_match_3d.cpp
index 5c6361c8a..a15863c57 100644
--- 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);