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fix scaling

release/4.3a0
Varun Agrawal 2025-01-29 14:13:33 -05:00
parent fab06a33a0
commit 897b05f318
1 changed files with 0 additions and 2 deletions
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gtsam/discrete/DiscreteFactorGraph.cpp
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@ -222,8 +222,6 @@ namespace gtsam {
// sum out frontals, this is the factor on the separator // sum out frontals, this is the factor on the separator
gttic(sum); gttic(sum);
DiscreteFactor::shared_ptr sum = product->sum(frontalKeys); DiscreteFactor::shared_ptr sum = product->sum(frontalKeys);
// Normalize/scale to prevent underflow.
sum = sum->scale();
gttoc(sum); gttoc(sum);
// Normalize/scale to prevent underflow. // Normalize/scale to prevent underflow.