From 395ffad97970133beac9daa823c1fccf17562fe6 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Fri, 30 Dec 2022 13:59:08 -0500
Subject: [PATCH] Fixed likelihood

---
 gtsam/hybrid/GaussianMixture.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index 05864a6e4..65c0e8522 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -153,7 +153,7 @@ boost::shared_ptr<GaussianMixtureFactor> GaussianMixture::likelihood(
       conditionals_, [&](const GaussianConditional::shared_ptr &conditional) {
         return GaussianMixtureFactor::FactorAndConstant{
             conditional->likelihood(frontals),
-            0.5 * conditional->logDeterminant()};
+            conditional->logNormalizationConstant()};
       });
   return boost::make_shared<GaussianMixtureFactor>(
       continuousParentKeys, discreteParentKeys, likelihoods);