removed extra "else"
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				|  | @ -276,7 +276,7 @@ class SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor { | |||
|           Key key_j = nonuniqueKeys.at(j); | ||||
|           if(i==j){ | ||||
|             augmentedHessianUniqueKeys.updateDiagonalBlock( keyToSlotMap[key_i] , augmentedHessian.diagonalBlock(i)); | ||||
|           }else if(i < j){ | ||||
|           }else{ // (i < j)
 | ||||
|             if( keyToSlotMap[key_i] != keyToSlotMap[key_j] ){ | ||||
|               augmentedHessianUniqueKeys.updateOffDiagonalBlock( keyToSlotMap[key_i] , keyToSlotMap[key_j], | ||||
|                                                                  augmentedHessian.aboveDiagonalBlock(i,j)); | ||||
|  | @ -286,10 +286,6 @@ class SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor { | |||
|                                                               augmentedHessian.aboveDiagonalBlock(i,j).transpose()); | ||||
|             } | ||||
|           } | ||||
|           else{ //TODO: remove else
 | ||||
|             augmentedHessianUniqueKeys.updateOffDiagonalBlock( keyToSlotMap[key_i] , keyToSlotMap[key_j], | ||||
|                                                        augmentedHessian.aboveDiagonalBlock(j,i).transpose()); | ||||
|           } | ||||
|         } | ||||
|       } | ||||
|       augmentedHessianUniqueKeys.updateDiagonalBlock(nrUniqueKeys, augmentedHessian.diagonalBlock(nrNonuniqueKeys)); | ||||
|  |  | |||
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