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scale product and sum so we don't get all 0s

release/4.3a0
Frank Dellaert 2025-01-28 17:22:44 -05:00
parent c8bafab430
commit d4d95e2342
1 changed files with 3 additions and 4 deletions
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7
gtsam/discrete/DiscreteFactorGraph.cpp
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@ -125,11 +125,8 @@ namespace gtsam {
DiscreteFactor::shared_ptr product = this->product(); DiscreteFactor::shared_ptr product = this->product();
gttoc(product); gttoc(product);
// Max over all the potentials by pretending all keys are frontal:
auto denominator = product->max(product->size());
// Normalize the product factor to prevent underflow. // Normalize the product factor to prevent underflow.
product = product->operator/(denominator); product = product->scale();
return product; return product;
} }
@ -222,6 +219,8 @@ 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);
// Ordering keys for the conditional so that frontalKeys are really in front // Ordering keys for the conditional so that frontalKeys are really in front