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SOLVED:

G2O optimise:

g2o::SparseOptimizer optimizer;

auto linearSolver = std::make_unique<g2o::LinearSolverDense<g2o::BlockSolver_6_3::PoseMatrixType>>();

auto solver = new g2o::OptimizationAlgorithmLevenberg(std::make_unique<g2o::BlockSolver_6_3>(std::move(linearSolver)));

optimizer.setAlgorithm(solver);

MISC.H:

template<typename T, typename ...ArgTs>
std::unique_ptr<T> make_unique(ArgTs&& ...args)
{
  return std::unique_ptr<T>(new T(std::forward<ArgTs>(args)...));
};