main.cpp

#include "widget.h"
#include "map.h"
#include <QApplication>
#include <opencv2/opencv.hpp>

int main(int argc, char *argv[])
{
    QApplication a(argc, argv);
    Widget w;
    w.show();

    return a.exec();
    //return 0;
}


#ifdef this_function_is_for_simplifying_map_file
int main(int argc, char *argv[])
{
    using namespace  cv;
    using namespace std;

    Map* map = new Map();
    map->loadFromFile("C:/Users/fzheng/Documents/QtProjects/MapViewer/odoslam_old_big_file.map");

    FileStorage file("C:/Users/fzheng/Documents/QtProjects/MapViewer/odoslam.map", FileStorage::WRITE);

    file << "KeyFrames" << "[";
    for(Mat& pose: map->Poses) {
        file << "{";
        file << "Pose" << pose;
        file << "}";
    }
    file << "]";
    file << "MapPoints" << "[";
    for(Point3f& pt : map->Points) {
        file << "{";
        file << "Pos" << pt;
        file << "}";
    }
    file << "]";

    file.release();

    delete map;
    return 0;
}
#endif