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/********************************
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;
}
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