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/dataset.h

@@ -1,30 +0,0 @@
-#ifndef DATASET_H_
-#define DATASET_H_
-
-#include <vector>
-#include <Eigen/Dense>
-#include <Eigen/SparseCore>
-#include <opencv2/core/core.hpp>
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/opencv.hpp>
-
-#include "utils.h"
-
-
-class Dataset{
-public:
-  Dataset(const std::string& dataroot, const std::string& image_dir_name);
-  size_t GetDatasetLength();
-  bool GetImage(cv::Mat& image, size_t idx);
-  double GetTimestamp(size_t idx);
-
-private:
-  std::string _dataroot;
-  std::string _image_dir;
-  std::string _image_name_file_path;
-  std::vector<std::string> _image_names;
-  std::string _time_file_path;
-  std::vector<double> _timestamps;
-};
-
-#endif // DATASET_H_