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update GaussianMixture::likelihood to compute the logNormalizers

release/4.3a0
Varun Agrawal 2024-08-21 20:10:40 -04:00
parent 79c7c6a8b6
commit 9a6d2cf323
1 changed files with 18 additions and 1 deletions
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19
gtsam/hybrid/GaussianMixture.cpp
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@ -202,8 +202,25 @@ std::shared_ptr<GaussianMixtureFactor> GaussianMixture::likelihood(
const auto likelihood_m = conditional->likelihood(given);
return likelihood_m;
});
// First compute all the sqrt(|2 pi Sigma|) terms
auto computeLogNormalizers = [](const GaussianFactor::shared_ptr &gf) {
auto jf = std::dynamic_pointer_cast<JacobianFactor>(gf);
// If we have, say, a Hessian factor, then no need to do anything
if (!jf) return 0.0;
auto model = jf->get_model();
// If there is no noise model, there is nothing to do.
if (!model) {
return 0.0;
}
return ComputeLogNormalizer(model);
};
AlgebraicDecisionTree<Key> log_normalizers =
DecisionTree<Key, double>(likelihoods, computeLogNormalizers);
return std::make_shared<GaussianMixtureFactor>(
continuousParentKeys, discreteParentKeys, likelihoods, true);
continuousParentKeys, discreteParentKeys, likelihoods, log_normalizers);
}
/* ************************************************************************* */