fix bugs in DetectNBestCandidates in KeyFrameDatabase.cc

fishmarch · Jul 20, 2023 · b66d0b7 · b66d0b7
1 parent 45ea0f5
commit b66d0b7
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/src/KeyFrameDatabase.cc b/src/KeyFrameDatabase.cc
@@ -655,12 +655,11 @@ void KeyFrameDatabase::DetectNBestCandidates(KeyFrame *pKF, vector<KeyFrame*> &v
     for(list<KeyFrame*>::iterator lit=lKFsSharingWords.begin(), lend= lKFsSharingWords.end(); lit!=lend; lit++)
     {
         KeyFrame* pKFi = *lit;
-
+        float si = mpVoc->score(pKF->mBowVec,pKFi->mBowVec);
+        pKFi->mPlaceRecognitionScore=si;
         if(pKFi->mnPlaceRecognitionWords>minCommonWords)
         {
             nscores++;
-            float si = mpVoc->score(pKF->mBowVec,pKFi->mBowVec);
-            pKFi->mPlaceRecognitionScore=si;
             lScoreAndMatch.push_back(make_pair(si,pKFi));
         }
     }