Fixed clearing of laserCloudOri and coeffSel

laserCloudOri and coeffSel, which are used to build the jacobian,
should be cleared at the start of every iteration, not just once per
round of odometry.

src/laserOdometry.cpp

@@ -455,9 +455,6 @@ int main(int argc, char** argv)
         continue;
       }
 
-      laserCloudOri->clear();
-      coeffSel->clear();
-
       transform[3] -= imuVeloFromStartX * scanPeriod;
       transform[4] -= imuVeloFromStartY * scanPeriod;
       transform[5] -= imuVeloFromStartZ * scanPeriod;
@@ -468,6 +465,9 @@ int main(int argc, char** argv)
         int cornerPointsSharpNum = cornerPointsSharp->points.size();
         int surfPointsFlatNum = surfPointsFlat->points.size();
         for (int iterCount = 0; iterCount < 25; iterCount++) {
+          laserCloudOri->clear();
+          coeffSel->clear();
+
           for (int i = 0; i < cornerPointsSharpNum; i++) {
             TransformToStart(&cornerPointsSharp->points[i], &pointSel);