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Fix graph_optimizer #651

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Merged
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Sep 23, 2025
Merged

Fix graph_optimizer #651

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5 changes: 0 additions & 5 deletions src/stella_vslam/optimize/graph_optimizer.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -166,11 +166,6 @@ void graph_optimizer::optimize(const std::shared_ptr<data::keyframe>& loop_keyfr
if (parent_node) {
const auto id2 = parent_node->id_;

// Avoid duplication
if (id1 <= id2) {
continue;
}

// Use only non-modified poses in the covisibility information
// (Both camera poses should be nop-modified in order to compute the relative pose correctly)
const auto iter2 = non_corrected_Sim3s.find(parent_node);
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