diff --git a/corelib/src/Rtabmap.cpp b/corelib/src/Rtabmap.cpp
index af1a80d7..2d4f9aa6 100644
--- a/corelib/src/Rtabmap.cpp
+++ b/corelib/src/Rtabmap.cpp
@@ -591,13 +591,6 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
 		_optimizeFromGraphEndChanged = true;
 	}
 	Parameters::parse(parameters, Parameters::kRGBDOptimizeMaxError(), _optimizationMaxError);
-	if(_optimizationMaxError > 0.0 && _optimizationMaxError < 1.0)
-	{
-		UWARN("RGBD/OptimizeMaxError (value=%f) is smaller than 1.0, setting to default %f "
-			  "instead (for backward compatibility issues when this parameter was previously "
-			  "an absolute error value).", _optimizationMaxError, Parameters::defaultRGBDOptimizeMaxError());
-		_optimizationMaxError = Parameters::defaultRGBDOptimizeMaxError();
-	}
 	Parameters::parse(parameters, Parameters::kRtabmapStartNewMapOnLoopClosure(), _startNewMapOnLoopClosure);
 	Parameters::parse(parameters, Parameters::kRtabmapStartNewMapOnGoodSignature(), _startNewMapOnGoodSignature);
 	Parameters::parse(parameters, Parameters::kRGBDGoalReachedRadius(), _goalReachedRadius);