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Normalize products by max in discrete elimination.

release/4.3a0
Kevin 2023-02-11 19:59:16 -05:00
parent feaa07ad02
commit 70fa568131
1 changed files with 4 additions and 4 deletions
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8
gtsam/discrete/DiscreteFactorGraph.cpp
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@ -121,8 +121,8 @@ namespace gtsam {
for (auto&& factor : factors) product = (*factor) * product; for (auto&& factor : factors) product = (*factor) * product;
gttoc(product); gttoc(product);
// Sum all the potentials by pretending all keys are frontal: // Max over all the potentials by pretending all keys are frontal:
auto normalization = product.sum(product.size()); auto normalization = product.max(product.size());
// Normalize the product factor to prevent underflow. // Normalize the product factor to prevent underflow.
product = product / (*normalization); product = product / (*normalization);
@ -210,8 +210,8 @@ namespace gtsam {
for (auto&& factor : factors) product = (*factor) * product; for (auto&& factor : factors) product = (*factor) * product;
gttoc(product); gttoc(product);
// Sum all the potentials by pretending all keys are frontal: // Max over all the potentials by pretending all keys are frontal:
auto normalization = product.sum(product.size()); auto normalization = product.max(product.size());
// Normalize the product factor to prevent underflow. // Normalize the product factor to prevent underflow.
product = product / (*normalization); product = product / (*normalization);