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/map_stitcher.h

@@ -1,42 +0,0 @@
-#ifndef MAP_STITCHER_H_
-#define MAP_STITCHER_H_
-
-#include "optimization_2d/pose_graph_2d_error_term.h"
-#include "camera.h"
-#include "frame.h"
-#include "map.h"
-#include "read_configs.h"
-
-
-struct Cell{
-  int size;
-  Eigen::ArrayXXi data;
-  Eigen::ArrayXXi weight;
-
-  Cell(): size(0) {}
-  Cell(int _size): size(_size), data(Eigen::ArrayXXi::Zero(_size, _size)), weight(Eigen::ArrayXXi::Zero(_size, _size)) {}
-};
-
-typedef std::unordered_map<GridLocation, Cell, GridLocationHash, GridLocationEqual> OccupancyData;
-
-class MapStitcher{
-public:
-  MapStitcher(MapStitcherConfig config, CameraPtr camera);
-  void InsertFrame(FramePtr frame, cv::Mat& image);
-  // input is the posion in one axis, output is the cell and the position in cell
-  Eigen::Vector2i ComputeCellPosition(int x);
-  void AddImageToOccupancy(FramePtr frame);
-  void RecomputeOccupancy();
-  OccupancyData& GetOccupancyData();
-
-private:
-  int _cell_size;
-  bool _to_stitch;
-  CameraPtr _camera;
-  std::unordered_map<FramePtr, Eigen::MatrixXi> _raw_images;
-  OccupancyData _occupancy_data;
-};
-
-typedef std::shared_ptr<MapStitcher> MapStitcherPtr;
-
-#endif  // MAP_STITCHER_H_