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学习笔记非常棒，我最近在学习卫星姿态控制和定轨相关的算法，看到你的笔记，帮助很大，不过在看《导航定位算法公式理解》时md文件中很多公式看不到，期待作者尽快更新。

您好，我目前在TGINS的可视化中遇到了问题，已经下载了QT6.2.4，但是不会使用FUSING——PLOT，如果您能给出使用教程，或者使用教学视频的话，我将不胜感激。

In file included from /home/zfs/gici-open/include/gici/estimate/graph.h:55, from /home/zfs/gici-open/include/gici/estimate/estimator_types.h:30, from /home/zfs/gici-open/include/gici/stream/formator.h:19, from /home/zfs/gici-open/include/gici/stream/streaming.h:18, from /home/zfs/gici-open/include/gici/stream/data_integration.h:11, from /home/zfs/gici-open/src/stream/data_integration.cpp:9: /home/zfs/gici-open/include/gici/estimate/homogeneous_point_local_parameterization.h:57:40: error: expected class-name before ‘,’ token 57 | public ceres::LocalParameterization, | ^ In file included from /home/zfs/gici-open/include/gici/estimate/graph.h:56, from /home/zfs/gici-open/include/gici/estimate/estimator_types.h:30, from /home/zfs/gici-open/include/gici/stream/formator.h:19, from /home/zfs/gici-open/include/gici/stream/streaming.h:18, from /home/zfs/gici-open/include/gici/stream/data_integration.h:11, from /home/zfs/gici-open/src/stream/data_integration.cpp:9: /home/zfs/gici-open/include/gici/estimate/parameter_block.h:143:20: error: ‘LocalParameterization’ in namespace ‘ceres’ does not name a type 143 | const ceres::LocalParameterization* localParameterizationPtr) | ^~~~~~~~~~~~~~~~~~~~~ /home/zfs/gici-open/include/gici/estimate/parameter_block.h:150:24: error: ‘LocalParameterization’ in namespace ‘ceres’ does not name a type 150 | virtual const ceres::LocalParameterization* localParameterizationPtr() const | ^~~~~~~~~~~~~~~~~~~~~ /home/zfs/gici-open/include/gici/estimate/parameter_block.h:164:16: error: ‘LocalParameterization’ in namespace ‘ceres’ does not name a type 164 | const ceres::LocalParameterization* local_parameterization_ptr_; | ^~~~~~~~~~~~~~~~~~~~~ /home/zfs/gici-open/include/gici/estimate/parameter_block.h: In constructor ‘gici::ParameterBlock::ParameterBlock()’: /home/zfs/gici-open/include/gici/estimate/parameter_block.h:64:9: error: class ‘gici::ParameterBlock’ does not have any field named ‘local_parameterization_ptr_’ 64 | , local_parameterization_ptr_(nullptr) | ^~~~~~~~~~~~~~~~~~~~~~~~~~~ /home/zfs/gici-open/include/gici/estimate/parameter_block.h: In member function ‘virtual void gici::ParameterBlock::setLocalParameterizationPtr(const int*)’: /home/zfs/gici-open/include/gici/estimate/parameter_block.h:145:5: error: ‘local_parameterization_ptr_’ was not declared in this scope; did you mean ‘localParameterizationPtr’? 145 | local_parameterization_ptr_ = localParameterizationPtr; | ^~~~~~~~~~~~~~~~~~~~~~~~~~~ | localParameterizationPtr In file included from /home/zfs/gici-open/include/gici/estimate/graph.h:57, from /home/zfs/gici-open/include/gici/estimate/estimator_types.h:30, from /home/zfs/gici-open/include/gici/stream/formator.h:19, from /home/zfs/gici-open/include/gici/stream/streaming.h:18, from /home/zfs/gici-open/include/gici/stream/data_integration.h:11, from /home/zfs/gici-open/src/stream/data_integration.cpp:9: /home/zfs/gici-open/include/gici/estimate/pose_local_parameterization.h: At global scope: /home/zfs/gici-open/include/gici/estimate/pose_local_parameterization.h:62:40: error: expected class-name before ‘,’ token 62 | public ceres::LocalParameterization, | ^ In file included from /home/zfs/gici-open/include/gici/estimate/estimator_types.h:30, from /home/zfs/gici-open/include/gici/stream/formator.h:19, from /home/zfs/gici-open/include/gici/stream/streaming.h:18, from /home/zfs/gici-open/include/gici/stream/data_integration.h:11, from /home/zfs/gici-open/src/stream/data_integration.cpp:9: /home/zfs/gici-open/include/gici/estimate/graph.h:309:7: error: ‘ceres::LocalParameterization’ has not been declared 309 | ceres::LocalParameterization* local_parameterization); | ^~~~~ /home/zfs/gici-open/include/gici/estimate/graph.h:319:7: error: ‘ceres::LocalParameterization’ has not been declared 319 | ceres::LocalParameterization* local_parameterization) | ^~~~~ In file included from /home/zfs/gici-open/include/gici/estimate/graph.h:55, from /home/zfs/gici-open/include/gici/estimate/estimator_types.h:30, from /home/zfs/gici-open/include/gici/stream/formator.h:19, from /home/zfs/gici-open/src/utility/option.cpp:14: /home/zfs/gici-open/include/gici/estimate/homogeneous_point_local_parameterization.h:57:40: error: expected class-name before ‘,’ token 57 | public ceres::LocalParameterization, | ^ In file included from /home/zfs/gici-open/include/gici/estimate/graph.h:56, from /home/zfs/gici-open/include/gici/estimate/estimator_types.h:30, from /home/zfs/gici-open/include/gici/stream/formator.h:19, from /home/zfs/gici-open/src/utility/option.cpp:14: /home/zfs/gici-open/include/gici/estimate/parameter_block.h:143:20: error: ‘LocalParameterization’ in namespace ‘ceres’ does not name a type 143 | const ceres::LocalParameterization* localParameterizationPtr) | ^~~~~~~~~~~~~~~~~~~~~ /home/zfs/gici-open/include/gici/estimate/parameter_block.h:150:24: error: ‘LocalParameterization’ in namespace ‘ceres’ does not name a type 150 | virtual const ceres::LocalParameterization* localParameterizationPtr() const | ^~~~~~~~~~~~~~~~~~~~~ /home/zfs/gici-open/include/gici/estimate/parameter_block.h:164:16: error: ‘LocalParameterization’ in namespace ‘ceres’ does not name a type 164 | const ceres::LocalParameterization* local_parameterization_ptr_; | ^~~~~~~~~~~~~~~~~~~~~ /home/zfs/gici-open/include/gici/estimate/parameter_block.h: In constructor ‘gici::ParameterBlock::ParameterBlock()’: /home/zfs/gici-open/include/gici/estimate/parameter_block.h:64:9: error: class ‘gici::ParameterBlock’ does not have any field named ‘local_parameterization_ptr_’ 64 | , local_parameterization_ptr_(nullptr) | ^~~~~~~~~~~~~~~~~~~~~~~~~~~ /home/zfs/gici-open/include/gici/estimate/parameter_block.h: In member function ‘virtual void gici::ParameterBlock::setLocalParameterizationPtr(const int*)’: /home/zfs/gici-open/include/gici/estimate/parameter_block.h:145:5: error: ‘local_parameterization_ptr_’ was not declared in this scope; did you mean ‘localParameterizationPtr’? 145 | local_parameterization_ptr_ = localParameterizationPtr; | ^~~~~~~~~~~~~~~~~~~~~~~~~~~ | localParameterizationPtr In file included from /home/zfs/gici-open/include/gici/estimate/graph.h:57, from /home/zfs/gici-open/include/gici/estimate/estimator_types.h:30, from /home/zfs/gici-open/include/gici/stream/formator.h:19, from /home/zfs/gici-open/src/utility/option.cpp:14: /home/zfs/gici-open/include/gici/estimate/pose_local_parameterization.h: At global scope: /home/zfs/gici-open/include/gici/estimate/pose_local_parameterization.h:62:40: error: expected class-name before ‘,’ token 62 | public ceres::LocalParameterization, | ^ In file included from /home/zfs/gici-open/include/gici/estimate/estimator_types.h:30, from /home/zfs/gici-open/include/gici/stream/formator.h:19, from /home/zfs/gici-open/src/utility/option.cpp:14: /home/zfs/gici-open/include/gici/estimate/graph.h:309:7: error: ‘ceres::LocalParameterization’ has not been declared 309 | ceres::LocalParameterization* local_parameterization); | ^~~~~ /home/zfs/gici-open/include/gici/estimate/graph.h:319:7: error: ‘ceres::LocalParameterization’ has not been declared 319 | ceres::LocalParameterization* local_parameterization) | ^~~~~ In file included from /home/zfs/gici-open/include/gici/estimate/estimator_base.h:16, from /home/zfs/gici-open/include/gici/estimate/estimating.h:21, from /home/zfs/gici-open/include/gici/stream/data_integration.h:12, from /home/zfs/gici-open/src/stream/data_integration.cpp:9: /home/zfs/gici-open/include/gici/estimate/marginalization_error.h: In constructor ‘gici::MarginalizationError::ParameterBlockInfo::ParameterBlockInfo(uint64_t, std::shared_ptrgici::ParameterBlock, size_t, bool)’: /home/zfs/gici-open/include/gici/estimate/marginalization_error.h:373:32: error: ‘using element_type = class gici::ParameterBlock’ {aka ‘class gici::ParameterBlock’} has no member named ‘localParameterizationPtr’; did you mean ‘setLocalParameterizationPtr’? 373 | if (parameter_block_ptr->localParameterizationPtr()) | ^~~~~~~~~~~~~~~~~~~~~~~~ | setLocalParameterizationPtr /home/zfs/gici-open/include/gici/estimate/marginalization_error.h:375:48: error: ‘using element_type = class gici::ParameterBlock’ {aka ‘class gici::ParameterBlock’} has no member named ‘localParameterizationPtr’; did you mean ‘setLocalParameterizationPtr’? 375 | local_dimension = parameter_block_ptr->localParameterizationPtr() | ^~~~~~~~~~~~~~~~~~~~~~~~ | setLocalParameterizationPtr In file included from /home/zfs/gici-open/include/gici/estimate/estimator_base.h:16, from /home/zfs/gici-open/include/gici/gnss/gnss_estimator_base.h:11, from /home/zfs/gici-open/include/gici/gnss/spp_estimator.h:11, from /home/zfs/gici-open/src/utility/option.cpp:19: /home/zfs/gici-open/include/gici/estimate/marginalization_error.h: In constructor ‘gici::MarginalizationError::ParameterBlockInfo::ParameterBlockInfo(uint64_t, std::shared_ptrgici::ParameterBlock, size_t, bool)’: /home/zfs/gici-open/include/gici/estimate/marginalization_error.h:373:32: error: ‘using element_type = class gici::ParameterBlock’ {aka ‘class gici::ParameterBlock’} has no member named ‘localParameterizationPtr’; did you mean ‘setLocalParameterizationPtr’? 373 | if (parameter_block_ptr->localParameterizationPtr()) | ^~~~~~~~~~~~~~~~~~~~~~~~ | setLocalParameterizationPtr /home/zfs/gici-open/include/gici/estimate/marginalization_error.h:375:48: error: ‘using element_type = class gici::ParameterBlock’ {aka ‘class gici::ParameterBlock’} has no member named ‘localParameterizationPtr’; did you mean ‘setLocalParameterizationPtr’? 375 | local_dimension = parameter_block_ptr->localParameterizationPtr() | ^~~~~~~~~~~~~~~~~~~~~~~~ | setLocalParameterizationPtr make[2]: *** [CMakeFiles/gici.dir/build.make:154: CMakeFiles/gici.dir/src/stream/data_integration.cpp.o] Error 1 make[2]: *** Waiting for unfinished jobs.... make[2]: *** [CMakeFiles/gici.dir/build.make:102: CMakeFiles/gici.dir/src/utility/option.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:195: CMakeFiles/gici.dir/all] Error 2 make: *** [Makefile:84: all] Error 2
想请问我编译gici时，出现源文件错误是怎么回事呀？

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