function?L?=?calc_log_likelihood（Xstd_rgb?Xrgb_trgt?X?Y）?%#codegen

Npix_h?=?size（Y?1）;
Npix_w?=?size（Y?2）;

N?=?size（X2）;

L?=?zeros（1N）;
Y?=?permute（Y?[3?1?2]）;??%重新安排矩陣

A?=?-log（sqrt（2?*?pi）?*?Xstd_rgb）;
B?=?-?0.5?/?（Xstd_rgb.^2）;

X?=?round（X）;

for?k?=?1:N
????%?mn?粒子k在畫面中的位置
????m?=?X（1k）;
????n?=?X（2k）;
????
????I?=?（m?>=?1?&?m?<=?Npix_h）;
????J?=?（n?>=?1?&?n?<=?Npix_w）;
????
????if?I?&&?J
????????
????????C?=?double（Y（:?m?n））;
????????
????????D?=?C?-?Xrgb_trgt;
????????
????????D2?=?D‘?*?D;???%?歐氏距離
????????
????????L（k）?=??A?+?B?*?D2;??%高斯似然???D2?越小??L越大??注意B為負數
????else
????????
????????L（k）?=?-Inf;
????end
end

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2014-11-15?11:42??PF_Video_EN\
?????文件??????964717??2014-10-23?21:09??PF_Video_EN\Person.wmv
?????文件?????????261??2014-10-23?21:09??PF_Video_EN\Readme.txt
?????文件??????857622??2014-10-23?21:09??PF_Video_EN\Slides_LongVersion.pdf
?????文件??????569154??2014-10-23?21:09??PF_Video_EN\Slides_ShortVersion.pdf
?????文件?????????713??2014-10-24?22:48??PF_Video_EN\calc_log_likelihood.m
?????文件????????1680??2014-10-23?21:09??PF_Video_EN\calc_log_likelihood_mex_handcoded.cpp
?????文件?????????328??2014-10-24?20:32??PF_Video_EN\create_particles.m
?????文件????????1052??2014-11-15?11:35??PF_Video_EN\particle_filter_by_saved_movie.m
?????文件?????????999??2014-10-23?21:09??PF_Video_EN\particle_filter_by_usb_camera.m
?????文件?????????322??2014-10-24?21:06??PF_Video_EN\resample_particles.m
?????文件?????????153??2014-10-23?21:09??PF_Video_EN\show_particles.m
?????文件?????????260??2014-10-23?21:09??PF_Video_EN\show_state_estimated.m
?????文件?????????258??2014-10-24?20:35??PF_Video_EN\update_particles.m