Method ComputeLogNormalizer

localization/src/aruco_sensor_model.cpp:87–91

}

double ArucoSensorModel::ComputeLogNormalizer()
{
  return log(sqrt(pow(2 * M_PI, 2))) +
         log(sqrt(covariance_[0])) + log(sqrt(covariance_[1]));
}

double ArucoSensorModel::ComputeLogProb(const Particle & particle)
{