test

libs/localize/voxel_map/fast_voxel_matcher.cc

@@ -112,8 +112,6 @@ FastVoxelMatcher::Match(const Rigid3f &init_pose,
                         const VoxelMap &voxel_map,
                         const FastVoxelMatcher::Param &param) const
 {
-    no_map_cnt = 0;
-
     const std::vector<DiscreteScan> discrete_scans = GenerateDiscreteScans(
         init_pose, point_cloud, voxel_map, param);
 
@@ -287,6 +285,9 @@ void FastVoxelMatcher::ScoreCandidates(const VoxelMap &voxel_map,
     if(0 == candidates->size()){
         return;
     }
+    if(low_resolution){
+        no_map_cnt = 0;
+    }
     std::vector<float> ground_sum;
     std::vector<float> above_ground_sum;
     std::vector<uint32_t> has_map_sum;