…e. (#3966)
Fix regression issues from #3960.
This was due to the fact that relative pose re-estimation only works on
pairs that are newly calibrated. So if every camera is calibrated, the
relative pose wont be decomposed without this fix.
This actually reveals another inconsistency from
#3943. If it is the calibrated
case, the original code will just skip relative pose re-estimation so
that the default colmap two-view geometry is respected, rather than the
one in the re-estimation.