Update KeyFrameDatabase.cc

fishmarch · Aug 27, 2023 · 35c2361 · 35c2361
1 parent 0dff649
commit 35c2361
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/KeyFrameDatabase.cc b/src/KeyFrameDatabase.cc
@@ -685,7 +685,7 @@ void KeyFrameDatabase::DetectNBestCandidates(KeyFrame *pKF, vector<KeyFrame*> &v
             if(pKF2->mnPlaceRecognitionQuery!=pKF->mnId)
                 continue;
             if(pKF2->mnPlaceRecognitionWords<=minCommonWords){
-                float si = mpVoc->score(mBowVec, pKFi->GetBowVector());
+                float si = mpVoc->score(pKF->mBowVec,pKF2->mBowVec);
                 pKF2->mPlaceRecognitionScore=si;
                 pKF2->mnPlaceRecognitionWords = minCommonWords+1;
             }