initial sd-vbs

initial sd-vbs

add sd-vbs

sd-vbs

1 files changed, 22 insertions, 0 deletions

diff --git a/SD-VBS/benchmarks/localization/src/matlab/get3DGaussianProb.m b/SD-VBS/benchmarks/localization/src/matlab/get3DGaussianProb.m
new file mode 100644
index 0000000..6a54530
--- /dev/null
+++ b/SD-VBS/benchmarks/localization/src/matlab/get3DGaussianProb.m
@@ -0,0 +1,22 @@
+function p=get3DGaussianProb(data, mean, A)
+n_data=size(data,1);
+n_channel=size(data,2);
+
+p=zeros(n_data,1);
+diff=(data)-ones(n_data,1)*mean;
+detA = 1; %detA = det(A)
+dotA = randWrapper(size(diff,1),1); %dotA = dot(diff*A, diff, 2)
+p=sqrt(detA/((2*pi)^n_channel))*exp(-0.5*dotA);
+
+%% KVS If the above doesnt work, try uncommenting these lines below
+
+%%temp = (det(A)/((2*pi)^n_channel));
+%temp = (1.0/((2*pi)^n_channel));
+%temp1 = dot(diff*A,diff,2);
+%%temp1 = rand(1000,1); 
+%temp2 = exp(-0.5*temp1);
+%p = sqrt(temp) * exp(temp2);
+%
+
+
+