function P = gaussdensity(hsvData, Mean, Covar)
%get the gaussian density for each data point given
% a mean and covariance
[rows, cols] = size(hsvData);

constant = 1 / (sqrt((2 * pi)^ cols) * det(Covar));

Diff = [hsvData(:,1) - Mean(1), hsvData(:,2) - Mean(2), hsvData(:,3) - Mean(3)];
FirstMult = Diff * inv(Covar);
DiffTrans = Diff';
%multiply just the diagonals
first = FirstMult(:,1) .* DiffTrans(1,:)';
second = FirstMult(:,2) .* DiffTrans(2,:)';
third = FirstMult(:,3) .* DiffTrans(3,:)';
Power = -.5 * (first + second + third);

%Power = -.5 * (Diff * inv(Covar) * Diff'); %should be array of powers to raise
%PowerDiag = diag(Power);
P = constant * exp(Power);