diff --git a/examples/SolverComparer.cpp b/examples/SolverComparer.cpp
index 91c55bafc..b328ef66c 100644
--- a/examples/SolverComparer.cpp
+++ b/examples/SolverComparer.cpp
@@ -166,10 +166,15 @@ int main(int argc, char *argv[]) {
   if(!datasetName.empty())
   {
     cout << "Loading dataset " << datasetName << endl;
-    string datasetFile = findExampleDataFile(datasetName);
-    std::pair<NonlinearFactorGraph::shared_ptr, Values::shared_ptr> data =
-      load2D(datasetFile);
-    datasetMeasurements = *data.first;
+    try {
+      string datasetFile = findExampleDataFile(datasetName);
+      std::pair<NonlinearFactorGraph::shared_ptr, Values::shared_ptr> data =
+        load2D(datasetFile);
+      datasetMeasurements = *data.first;
+    } catch(std::exception& e) {
+      cout << e.what() << endl;
+      exit(1);
+    }
   }
 
 
@@ -189,7 +194,6 @@ int main(int argc, char *argv[]) {
 /* ************************************************************************* */
 void runIncremental()
 {
-#if 0
   ISAM2 isam2;
 
   // Look for the first measurement to use
@@ -264,21 +268,23 @@ void runIncremental()
 
         // Initialize the new variable
         if(measurement->key1() > measurement->key2()) {
-          if(step == 1)
-            newVariables.insert(measurement->key1(), measurement->measured().inverse());
-          else {
-            Pose prevPose = isam2.calculateEstimate<Pose>(measurement->key2());
-            newVariables.insert(measurement->key1(), prevPose * measurement->measured().inverse());
+          if(!newVariables.exists(measurement->key1())) { // Only need to check newVariables since loop closures come after odometry
+            if(step == 1)
+              newVariables.insert(measurement->key1(), measurement->measured().inverse());
+            else {
+              Pose prevPose = isam2.calculateEstimate<Pose>(measurement->key2());
+              newVariables.insert(measurement->key1(), prevPose * measurement->measured().inverse());
+            }
           }
-          //        cout << "Initializing " << step << endl;
         } else {
-          if(step == 1)
-            newVariables.insert(measurement->key2(), measurement->measured());
-          else {
-            Pose prevPose = isam2.calculateEstimate<Pose>(measurement->key1());
-            newVariables.insert(measurement->key2(), prevPose * measurement->measured());
+          if(!newVariables.exists(measurement->key1())) { // Only need to check newVariables since loop closures come after odometry
+            if(step == 1)
+              newVariables.insert(measurement->key2(), measurement->measured());
+            else {
+              Pose prevPose = isam2.calculateEstimate<Pose>(measurement->key1());
+              newVariables.insert(measurement->key2(), prevPose * measurement->measured());
+            }
           }
-          //        cout << "Initializing " << step << endl;
         }
       }
       else if(BearingRangeFactor<Pose, Point2>::shared_ptr measurement =
@@ -350,6 +356,8 @@ void runIncremental()
     }
   }
 
+  tictoc_print_();
+
   // Compute marginals
   //try {
   //  Marginals marginals(graph, values);
@@ -386,7 +394,6 @@ void runIncremental()
   //  cout << e.what() << endl;
   //}
   //tictoc_print_();
-#endif
 }
 
 /* ************************************************************************* */