MPieter

  g2o::SparseOptimizer optimizer;
  auto linearSolver = g2o::make_unique<SlamLinearSolver>();
  linearSolver->setBlockOrdering(false);
  // g2o::OptimizationAlgorithmGaussNewton *solver = new g2o::OptimizationAlgorithmGaussNewton(
  // g2o::make_unique<SlamBlockSolver>(std::move(linearSolver)));
  g2o::OptimizationAlgorithmLevenberg *solver = new g2o::OptimizationAlgorithmLevenberg(g2o::make_unique<SlamBlockSolver>(std::move(linearSolver)));

  optimizer.setAlgorithm(solver); 
 
  // Adding poses

MPieter

.container {
  width: 200px;
  height: 100%;
  margin: 0 auto 0;
}
.pulse-button {
  position: relative;
  width: 100px;
  height: 100px;
  border: none;