Likelihoods and other improvements #1356
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dellaert
commented
Dec 29, 2022
dellaert
commented
- added likelihood to GaussianMixture
- made FG out of BN
- checked ratio
- fixes equals and print in GMF
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Please approve and merge @varunagrawal , I'll fix comments in follow up PR. |
varunagrawal
approved these changes
Dec 30, 2022
| /* ************************************************************************ */ | ||
| GaussianConditional GaussianConditional::FromMeanAndStddev( | ||
| Key key, const Matrix& A, Key parent, const Vector& b, double sigma) { | ||
| // |Rx + Sy - d| = |x-(Ay + b)|/sigma | ||
| const Matrix R = Matrix::Identity(b.size(), b.size()); | ||
| const Matrix S = -A; | ||
| const Vector d = b; | ||
| const Vector& d = b; |
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What is the reason for making this a reference?
| """Test a tiny two variable hybrid model.""" | ||
| bayesNet = self.tiny() | ||
| sample = bayesNet.sample() | ||
| # print(sample) |
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| self.assertEqual(fg.size(), 3) | ||
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| def test_tiny2(self): |
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Probably rename this to describe what the test is doing?
| bayesNet = gtsam.HybridBayesNet() | ||
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| # Create mode key: 0 is low-noise, 1 is high-noise. | ||
| modeKey = M(0) |
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Can be merged into the next line since modeKey isn't used anywhere else.
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| hv = hbn.optimize() | ||
| self.assertEqual(hv.atDiscrete(C(0)), 1) | ||
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| @staticmethod | ||
| def tiny(num_measurements: int = 1): | ||
| """Create a tiny two variable hybrid model.""" |
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I would like to see this say "Create a tiny two variable hybrid model which represents the generative probability P(z, x, n) = P(z | x, n)P(x)P(n)."
| sample = bayesNet.sample() | ||
| # print(sample) | ||
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| # Create a factor graph from the Bayes net with sampled measurements. |
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This comment should say
# Create a factor graph from the Bayes net with sampled measurements. The factor graph is `P(x)P(n) ϕ(x, n; z1) ϕ(x, n; z2)`Please copy directly since I have added the relevant unicode.
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