From 042ff210d57bba264639bcfe8974d0b3304d18a7 Mon Sep 17 00:00:00 2001
From: Vijay Pradeep <vijaypradeep@google.com>
Date: Thu, 8 Jan 2015 15:26:15 -0800
Subject: [PATCH] Fixing race condition by expanding resultsMutex lock section

---
 modules/calib3d/src/solvepnp.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index 1aeb82f64b..f00958d055 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -196,18 +196,16 @@ namespace cv
                 }
             }
 
+            resultsMutex.lock();
             if (localInliers.size() > inliers.size())
             {
-                resultsMutex.lock();
-
                 inliers.clear();
                 inliers.resize(localInliers.size());
                 memcpy(&inliers[0], &localInliers[0], sizeof(int) * localInliers.size());
                 localRvec.copyTo(rvec);
                 localTvec.copyTo(tvec);
-
-                resultsMutex.unlock();
             }
+            resultsMutex.unlock();
         }
 
         static void pnpTask(const vector<char>& pointsMask, const Mat& objectPoints, const Mat& imagePoints,