function gmask = gaussMask(w, sigma)
% This code is copyrighted by Stanford University.
% Author: Ashutosh Saxena, Justin Drieymeyer
% Code cannot be used for commercial purposes.
% Use of the code, if used with permission from authors, must acknowledge:
% Learning to Grasp Novel Objects using Vision,
% Ashutosh Saxena, Justin Driemeyer, Justin Kearns, Chioma Osondu, Andrew Y. Ng. In 10th International Symposium on Experimental Robotics, ISER, 2006.
% Robotic Grasping of Novel Obects,
% Ashutosh Saxena, Justing Driemeyer, Justin Kearns, Andrew Y. Ng, In Neural Information Processing Systems (NIPS), 2006.
% More details at: http://ai.stanford.edu/~asaxena/learninggrasp/
% Version 0.1:   Aug 2006.

 
ww = 2*w + 1;
 
[x,y] = meshgrid(-w:w, -w:w);
 
gmask = 1/(2*pi) * exp( -(x.^2 + y.^2)/2/sigma^2);
gmask = gmask / sum(sum(gmask));