test

libs/localize/voxel_map_matcher.cc

@@ -98,7 +98,7 @@ FastVoxelMapMatcher::~FastVoxelMapMatcher() {
 float FastVoxelMapMatcher::InnerMatch(const VectorCloud &vector_cloud, const GuessPose guess_pose,
                                       const Rigid3d &predict_pose, Rigid3d &estimate_pose) {
     float score = fast_match(matcher_, map_, fast_options_, vector_cloud, guess_pose, predict_pose, estimate_pose);
-    return score >= fast_options_.accepted_score? score: -1;
+    return score >= fast_options_.accepted_score? score: -1 * score;
 }
 
 ////////////////////////////////////////////////////////////