from matplotlib.backend_bases import NonGuiException
import matplotlib.pyplot as plt
import numpy as np
from numpy.random import uniform 


def Binary_Baye_Filter (I, zt, x):
    pass

def invserse_sensor_model(m, x, z):
    pass


def update(particles, weights, z, R, landmarks):
    for i, landmark in enumerate(landmarks):
        distance = np.linalg.norm(particles[:, 0:2] - landmark, axis=1)
        weights *= np.scipy.stats.norm(distance, R).pdf(z[i])

    weights += 1.e-300      # avoid round-off to zero
    weights /= sum(weights) # normalize