mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-01 17:10:26 +08:00
2d73090f3a
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83
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 |