9 float& expectedSigma)
const {
21 float invbeta = meantmax / (meanalpha - 1.);
22 float predictedDepth = meanalpha * invbeta;
25 float predictedSigma = sigmalnalpha * sigmalnalpha / ((meanalpha - 1.) * (meanalpha - 1.));
26 predictedSigma += sigmalntmax * sigmalntmax;
27 predictedSigma -= 2 * sigmalnalpha * sigmalntmax * corrlnalphalntmax / (meanalpha - 1.);
28 if (predictedSigma < 0.)
29 predictedSigma = 1.e10;
30 predictedSigma = predictedDepth *
std::sqrt(predictedSigma);
32 expectedDepth = predictedDepth;
33 expectedSigma = predictedSigma;
34 return (measuredDepth - predictedDepth) / predictedSigma;