Module fetish_lib::sigma_points[][src]

Functions

get_sigma_points

Gets the canonical set of 2n + 1 sigma points (see: unscented transform) for the given Schmear. These points are chosen in such a way that their mean and covariance match that of the given schmear.

sigma_points_to_schmear

Given some points, yields a Schmear with their mean and (sample) covariance.

unscented_transform_schmear

Given a Schmear in a compressed space and some FeatureSpaceInfo, computes an estimated featurized Schmear using an unscented transform on the canonical set of 2n + 1 sigma points.