改了一下ekf的源码，让odom不再完全相信轮式里程计；手贱删了个.git里的文件导致文件全部重新存，看不了diff了

src/ground_slam/include/loop_closure.h

@@ -1,43 +0,0 @@
-#ifndef LOOP_CLOSURE_H_
-#define LOOP_CLOSURE_H_
-
-#include "read_configs.h"
-#include "correlation_flow.h"
-#include "map.h"
-
-
-struct LoopClosureResult{
-  bool found;
-  Eigen::Vector3d response;
-  FramePtr current_frame;
-  FramePtr loop_frame;
-  Eigen::Vector3d relative_pose;
-
-  LoopClosureResult(): found(false), response(-1.0, -1.0, -1.0) {}
-  LoopClosureResult(bool _found, Eigen::Vector3d _resopnse): found(_found), response(_resopnse) {}
-  LoopClosureResult& operator=(const LoopClosureResult& other){
-    found = other.found;
-    response = other.response;
-    current_frame = other.current_frame;
-    loop_frame = other.loop_frame;
-    relative_pose = other.relative_pose;
-    return *this;
-  }
-};
-
-class LoopClosure{
-public:
-  LoopClosure(LoopClosureConfig& loop_closure_config, CorrelationFlowPtr correlation_flow, MapPtr map);
-  LoopClosureResult FindLoopClosure(Eigen::ArrayXXf& image, FramePtr& current_frame);
-  LoopClosureResult FindLoopClosure(Eigen::ArrayXXf& image, FramePtr& current_frame, Eigen::Vector3d& prior_pose);
-  LoopClosureResult FindLoopClosure(Eigen::ArrayXXf& image, FramePtr& current_frame, std::vector<FramePtr>& frames);
-
-private:
-  LoopClosureConfig _loop_thr;
-  CorrelationFlowPtr _correlation_flow;
-  MapPtr _map;
-};
-
-typedef std::shared_ptr<LoopClosure> LoopClosurePtr;
-
-#endif  // LOOP_CLOSURE_H_