What's the design pattern of BlockSolver?

[jingedawang]

When I was using BlockSolver, I was confused of the design of this class. I found that I am not able to decide which vertex to marginalize. It seems only landmarks can be marginalized, also, they must be marginalized. It is really a strict restrict. Maybe it can be better designed?

For example, this line block_solver.hpp#L118 distinguishes poses and landmarks by marginalization. Is it a proper way?

[github-actions]

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