sometimes not trigger loop under the same params and dataset about loam_livox HOT 3 CLOSED

This is because I add some randomness during the alignment of the map. For realtime consideration, we randomly drop some of the matchings during ICP of map alignment, this might cause the performance not the alway the same of each launching.
Once the maps can not alignment well, we treat the loop detect by 2D-histogram as false positive.

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For disable such randomness, you can modify the value in performance_precision.yaml
loop_closure/scene_alignment_maximum_residual_block: 3000
from 3000 to an extrmely high value (like 999999).

In addition, you can also fine-tune the value
loop_closure/map_alignment_inlier_threshold: 0.2
to a larger value to accept the loop.

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@ziv-lin, thanks a lot :)

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