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		reg_image_ids_.erase(
		std::remove(reg_image_ids_.begin(), reg_image_ids_.end(), image_id),
		reg_image_ids_.end());
		image.DeRegister();

		reg_image_ids_.erase(
		std::remove(reg_image_ids_.begin(), reg_image_ids_.end(), image_id),
		reg_image_ids_.end());
		image.DeRegister();

…to sarlinpe/image-opt-pose

		// World to camera pose.
		inline const Rigid3d& CamFromWorld() const;
		inline Rigid3d& CamFromWorld();
		inline std::optional<Rigid3d>& MaybeCamFromWorld();

		}
		const image_t image_id = image.ImageId();
		const bool is_registered = image.IsRegistered();
		const bool is_registered = image.HasPose();

sarlinpe deleted the sarlinpe/image-opt-pose branch

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