From d5858955ee5aa9c8fae7c9f26e7754e86353377a Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 27 May 2020 00:57:14 +0800
Subject: [PATCH] reduce the scope of mutex (#1561)

---
 selfdrive/modeld/modeld.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index 764f9aadeb..217654dc21 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -44,8 +44,7 @@ void* live_thread(void *arg) {
 
   while (!do_exit) {
     if (sm.update(10) > 0){
-      pthread_mutex_lock(&transform_lock);
-
+      
       auto extrinsic_matrix = sm["liveCalibration"].getLiveCalibration().getExtrinsicMatrix();
       Eigen::Matrix<float, 3, 4> extrinsic_matrix_eigen;
       for (int i = 0; i < 4*3; i++){
@@ -60,6 +59,7 @@ void* live_thread(void *arg) {
 
       auto warp_matrix = camera_frame_from_ground * ground_from_medmodel_frame;
 
+      pthread_mutex_lock(&transform_lock);
       for (int i=0; i<3*3; i++) {
         cur_transform.v[i] = warp_matrix(i / 3, i % 3);
       }