Doesn't work for indoor dataset

[4ku]

I have some indoor data collected with Livox Lidar. I don't know why, but STD shows not good results here. I tried to play with parameters, but don't have any improvements. You can see how it performs in a video below. 1RlhuzwF.webm

I launched demo_livox.launch with default parameters. Modified place_recognition_livox.cpp to reproduce this result: place_recognition_livox.zip