#include "main_window.h"#include "g2o/core/solver_property.h"#include "g2o/core/solver_factory.h"#include "g2o/core/graph_optimizer_sparse.h"#include "g2o/core/estimate_propagator.h"#include <QFileDialog>#include <QStandardItemModel>#include <QDoubleValidator>#include <fstream>#include <iostream>