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Same correct error with factor_z.error()

release/4.3a0
Frank Dellaert 2023-01-02 13:24:28 -05:00
parent 12d02bed1a
commit 797ac344fa
1 changed files with 2 additions and 2 deletions
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4
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -271,11 +271,11 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
[&](const GaussianMixtureFactor::FactorAndConstant &factor_z) {
// This is the probability q(μ) at the MLE point.
// factor_z.factor is a factor without keys, just containing the residual.
// return exp(-factor_z.error(VectorValues()));
return exp(-factor_z.error(VectorValues()));
// TODO(dellaert): this is not correct, since VectorValues() is not
// the MLE point. But it does not matter, as at the MLE point the
// error will be zero, hence:
return exp(factor_z.constant);
// return exp(factor_z.constant);
};
const DecisionTree<Key, double> fdt(newFactors, factorProb);
const auto discreteFactor =