diff --git a/gtsam/hybrid/HybridGaussianConditional.cpp b/gtsam/hybrid/HybridGaussianConditional.cpp index b408eea9c..0b1dc5337 100644 --- a/gtsam/hybrid/HybridGaussianConditional.cpp +++ b/gtsam/hybrid/HybridGaussianConditional.cpp @@ -35,8 +35,8 @@ HybridGaussianFactor::FactorValuePairs GetFactorValuePairs( double value = 0.0; // Check if conditional is pruned if (conditional) { - // Assign log(|2πΣ|) = -2*log(1 / sqrt(|2πΣ|)) - value = -2.0 * conditional->logNormalizationConstant(); + // Assign log(\sqrt(|2πΣ|)) = -log(1 / sqrt(|2πΣ|)) + value = -conditional->logNormalizationConstant(); } return {std::dynamic_pointer_cast(conditional), value}; };