diff --git a/gtsam/discrete/DiscreteFactorGraph.cpp b/gtsam/discrete/DiscreteFactorGraph.cpp index 133182a19..f2bae4b9b 100644 --- a/gtsam/discrete/DiscreteFactorGraph.cpp +++ b/gtsam/discrete/DiscreteFactorGraph.cpp @@ -222,8 +222,6 @@ namespace gtsam { // sum out frontals, this is the factor on the separator gttic(sum); DiscreteFactor::shared_ptr sum = product->sum(frontalKeys); - // Normalize/scale to prevent underflow. - sum = sum->scale(); gttoc(sum); // Normalize/scale to prevent underflow.