mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
69ac21f811
* Adding GFTT and SIFT Cuda support * Working CudaSift * Disable cudasift option when not available * Added check to avoid re-allocating gpu memory everytime parseParameters is called. Added workaround of to detect/ignore invalid descriptors * Added SIFT/PreciseUpscale and SIFT/Upscale parameters. Adjusted max octave to behave more like opencv * Refactored how maximum features are thresholded, to be more similar to OpenCV version * Updated loop closure benchmark scripts * Cuda optical flow tmp commit * Added Stereo/Gpu Vis/CorFlowGpu parameters (optical flow gpu integration for F2F odom and stereo correspondences) * Fixed build without opencv cuda * Fixed build with Opencv 4.10 * ZED: updated parameters to match zed sdk 4 * MRPT requires C++17 * updated max octave limit CudaSift
17 lines
387 B
Matlab
17 lines
387 B
Matlab
function LN = adjustLikelihood(L)
|
|
%ADJUSTLIKELIHOOD Adjust the likelihood with std dev and mean.
|
|
% LN = adjustLikelihood(L)
|
|
%
|
|
% L the likelihood (m,1)
|
|
% LN the likelihood normalized (m,1)
|
|
|
|
m = mean(L); % Calcul mean
|
|
s = std(L); % Calcul std dev
|
|
LN = zeros(size(L));
|
|
for i=1:length(L)
|
|
if L(i) > m + s
|
|
LN(i) = (L(i)-s)/m;
|
|
else
|
|
LN(i) = 1;
|
|
end
|
|
end |