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Undo scaling

release/4.3a0
Frank Dellaert 2025-01-29 13:55:12 -05:00
parent 09bf00b545
commit 7022f59237
1 changed files with 5 additions and 5 deletions
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10
gtsam/discrete/DiscreteFactorGraph.cpp
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@ -228,11 +228,11 @@ namespace gtsam {
// We divide both `product` and `sum` by `max(sum)`
// since it is faster to compute and when the conditional
// is formed by `product/sum`, the scaling term cancels out.
gttic(scale);
DiscreteFactor::shared_ptr denominator = sum->max(sum->size());
product = product->operator/(denominator);
sum = sum->operator/(denominator);
gttoc(scale);
// gttic(scale);
// DiscreteFactor::shared_ptr denominator = sum->max(sum->size());
// product = product->operator/(denominator);
// sum = sum->operator/(denominator);
// gttoc(scale);
// Ordering keys for the conditional so that frontalKeys are really in front
Ordering orderedKeys;