feat(slam): add rtabmap_ros

rtabmap/archive/2010-LoopClosure/Bayes/adjustLikelihood.m

@@ -0,0 +1,17 @@
+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