From f3c8f3cba4d704030dbeab1b631199b037d912a5 Mon Sep 17 00:00:00 2001
From: seque <sequeira.ethan@gmail.com>
Date: Mon, 4 Jul 2022 15:40:21 -0400
Subject: [PATCH] Changed condition to set pKFm

---
 src/Sim3Solver.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/Sim3Solver.cc b/src/Sim3Solver.cc
index e1ae956c..61989cf0 100644
--- 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));