diff --git a/gtsam/hybrid/tests/testHybridGaussianFactor.cpp b/gtsam/hybrid/tests/testHybridGaussianFactor.cpp index 63b37e7d4..1ecd77132 100644 --- a/gtsam/hybrid/tests/testHybridGaussianFactor.cpp +++ b/gtsam/hybrid/tests/testHybridGaussianFactor.cpp @@ -770,9 +770,10 @@ static HybridGaussianFactorGraph CreateFactorGraph( ->linearize(values); // Create HybridGaussianFactor + // We multiply by -2 since the we want the underlying scalar to be log(|2πΣ|) std::vector factors{ - {f0, ComputeLogNormalizerConstant(model0)}, - {f1, ComputeLogNormalizerConstant(model1)}}; + {f0, -2 * model0->logNormalizationConstant()}, + {f1, -2 * model1->logNormalizationConstant()}}; HybridGaussianFactor motionFactor({X(0), X(1)}, m1, factors); HybridGaussianFactorGraph hfg; diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp index 98bbd36d8..8d2a5a74b 100644 --- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp +++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp @@ -868,9 +868,10 @@ static HybridNonlinearFactorGraph CreateFactorGraph( std::make_shared>(X(0), X(1), means[1], model1); // Create HybridNonlinearFactor + // We multiply by -2 since the we want the underlying scalar to be log(|2πΣ|) std::vector factors{ - {f0, ComputeLogNormalizerConstant(model0)}, - {f1, ComputeLogNormalizerConstant(model1)}}; + {f0, -2 * model0->logNormalizationConstant()}, + {f1, -2 * model1->logNormalizationConstant()}}; HybridNonlinearFactor mixtureFactor({X(0), X(1)}, m1, factors);