1 files changed, 49 insertions, 0 deletions

diff --git a/SD-VBS/benchmarks/localization/src/c/get3DGaussianProb.c b/SD-VBS/benchmarks/localization/src/c/get3DGaussianProb.c
new file mode 100644
index 0000000..58c4475
--- /dev/null
+++ b/SD-VBS/benchmarks/localization/src/c/get3DGaussianProb.c
@@ -0,0 +1,49 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "localization.h"
+
+F2D* get3DGaussianProb( F2D* data, F2D* mean, F2D* A)
+{
+    F2D *p, *diff, *temp1, *temp2, *mt;
+    float temp;
+    int n_data, n_channel;
+    int i, j, k;
+    F2D* t;
+    float pi = 3.1412;
+
+    n_data = data->height;
+    n_channel = data->width;
+
+    t = fSetArray(n_data, 1, 1);
+
+    mt = fMtimes(t, mean); 
+    diff = fMinus( data, mt);
+    p = fSetArray(diff->height, 1, 0);
+
+    temp = sqrt(1.0/(pow(2*pi, n_channel)));
+    temp2 = randWrapper(diff->height,1);
+
+    j = (temp2->height*temp2->width);
+    for(i=0; i<j; i++)
+    {
+        float temp2i;
+        temp2i = asubsref(temp2,i);
+
+        temp2i = exp(-0.5*temp2i);
+        asubsref(p,i) = temp2i*temp;
+    }
+
+    fFreeHandle(t);
+    fFreeHandle(temp2);
+    fFreeHandle(mt);
+    fFreeHandle(diff);
+    
+    return p;
+}
+
+
+