From f618466c25d43f3bae9e40920273bf77de1e1149 Mon Sep 17 00:00:00 2001
From: leochanj105 <leochanj@live.unc.edu>
Date: Mon, 19 Oct 2020 23:09:30 -0400
Subject: initial sd-vbs

initial sd-vbs

add sd-vbs

sd-vbs
---
 SD-VBS/benchmarks/localization/src/c/mcl.c | 34 ++++++++++++++++++++++++++++++
 1 file changed, 34 insertions(+)
 create mode 100644 SD-VBS/benchmarks/localization/src/c/mcl.c

(limited to 'SD-VBS/benchmarks/localization/src/c/mcl.c')

diff --git a/SD-VBS/benchmarks/localization/src/c/mcl.c b/SD-VBS/benchmarks/localization/src/c/mcl.c
new file mode 100644
index 0000000..a3c56b6
--- /dev/null
+++ b/SD-VBS/benchmarks/localization/src/c/mcl.c
@@ -0,0 +1,34 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "localization.h"
+
+F2D* mcl(F2D* x, F2D* sData, F2D* invConv)
+{
+    int i, j;
+    F2D *retW, *retX, *sum;
+    float sumVal;
+
+    retX = fDeepCopy(x);
+    retW = get3DGaussianProb(retX, sData, invConv);
+    sum = fSum(retW);
+    if(sum->height == 1 && sum->width ==1)
+    {
+        sumVal = asubsref(sum,0);
+        for(i=0; i<retW->height; i++)
+            for(j=0; j<retW->width; j++)
+                subsref(retW,i,j) = subsref(retW,i,j)/sumVal;
+    }
+    else
+        retW = fMdivide(retW, sum);
+
+    fFreeHandle(retX);
+    fFreeHandle(sum);
+
+    return retW;
+}
+
+
-- 
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