Method optimizeGraph

src/visualizer/VisualizerWindow.cpp:574–581

}

void VisualizerWindow::optimizeGraph() {
  Stopwatch::tic();
  fusion_->globallyOptimize();
  std::cout << "Global optimization took " << Stopwatch::toc() << std::endl;

  ui_.wCanvas->setOptimizedPoses(fusion_->getOptimizedPoses());
  ui_.wCanvas->updateGL();
}

void VisualizerWindow::reset() {
  if (reader_ != nullptr) {