4.项目gvins-------主文件阅读（1）

1.项目主要依赖源文件如下

add_executable(${PROJECT_NAME}
    src/estimator_node.cpp
    src/parameters.cpp
    src/estimator.cpp
    src/feature_manager.cpp
    src/factor/pose_local_parameterization.cpp
    src/factor/projection_factor.cpp
    src/factor/projection_td_factor.cpp
    src/factor/marginalization_factor.cpp
    src/factor/gnss_psr_dopp_factor.cpp
    src/factor/gnss_dt_ddt_factor.cpp
    src/factor/gnss_dt_anchor_factor.cpp
    src/factor/gnss_ddt_smooth_factor.cpp
    src/factor/pos_vel_factor.cpp
    src/factor/pose_anchor_factor.cpp
    src/utility/utility.cpp
    src/utility/visualization.cpp
    src/utility/CameraPoseVisualization.cpp
    src/initial/solve_5pts.cpp
    src/initial/initial_aligment.cpp
    src/initial/initial_sfm.cpp
    src/initial/initial_ex_rotation.cpp
    src/initial/gnss_vi_initializer.cpp
)

2.主文件阅读estimator_node.cpp