Changed condition to set pKFm

Soldann · Jul 4, 2022 · f3c8f3c · f3c8f3c
1 parent 98af0c3
commit f3c8f3c
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/Sim3Solver.cc b/src/Sim3Solver.cc
@@ -81,7 +81,7 @@ Sim3Solver::Sim3Solver(KeyFrame *pKF1, KeyFrame *pKF2, const vector<MapPoint *>
             if(pMP1->isBad() || pMP2->isBad())
                 continue;
 
-            if(bDifferentKFs)
+            if(!bDifferentKFs)
                 pKFm = vpKeyFrameMatchedMP[i1];
 
             int indexKF1 = get<0>(pMP1->GetIndexInKeyFrame(pKF1));