template<typename PointT> inline void
pcl::PCA<PointT>::update (const PointT& input_point, FLAG flag)
{
if (!compute_done_)
initCompute ();
if (!compute_done_)
PCL_THROW_EXCEPTION (InitFailedException, "[pcl::PCA::update] PCA initCompute failed");
Eigen::Vector3f input (input_point.x, input_point.y, input_point.z);
const size_t n = eigenvectors_.cols ();// number of eigen vectors
Eigen::VectorXf meanp = (float(n) * (mean_.head<3>() + input)) / float(n + 1);
Eigen::VectorXf a = eigenvectors_.transpose() * (input - mean_.head<3>());
Eigen::VectorXf y = (eigenvectors_ * a) + mean_.head<3>();
Eigen::VectorXf h = y - input;
if (h.norm() > 0)
h.normalize ();
else
h.setZero ();
float gamma = h.dot(input - mean_.head<3>());
Eigen::MatrixXf D = Eigen::MatrixXf::Zero (a.size() + 1, a.size() + 1);
D.block(0,0,n,n) = a * a.transpose();
D /= float(n)/float((n+1) * (n+1));
for(std::size_t i=0; i < a.size(); i++) {
D(i,i)+= float(n)/float(n+1)*eigenvalues_(i);
D(D.rows()-1,i) = float(n) / float((n+1) * (n+1)) * gamma * a(i);
D(i,D.cols()-1) = D(D.rows()-1,i);
D(D.rows()-1,D.cols()-1) = float(n)/float((n+1) * (n+1)) * gamma * gamma;
}
Eigen::MatrixXf R(D.rows(), D.cols());
Eigen::EigenSolver<Eigen::MatrixXf> D_evd (D, false);
Eigen::VectorXf alphap = D_evd.eigenvalues().real();
eigenvalues_.resize(eigenvalues_.size() +1);
for(std::size_t i=0; i<eigenvalues_.size(); i++) {
eigenvalues_(i) = alphap(eigenvalues_.size()-i-1);
R.col(i) = D.col(D.cols()-i-1);
}
Eigen::MatrixXf Up = Eigen::MatrixXf::Zero(eigenvectors_.rows(), eigenvectors_.cols()+1);
Up.topLeftCorner(eigenvectors_.rows(),eigenvectors_.cols()) = eigenvectors_;
Up.rightCols<1>() = h;
eigenvectors_ = Up*R;
if (!basis_only_) {
Eigen::Vector3f etha = Up.transpose() * (mean_.head<3>() - meanp);
coefficients_.resize(coefficients_.rows()+1,coefficients_.cols()+1);
for(std::size_t i=0; i < (coefficients_.cols() - 1); i++) {
coefficients_(coefficients_.rows()-1,i) = 0;
coefficients_.col(i) = (R.transpose() * coefficients_.col(i)) + etha;
}
a.resize(a.size()+1);
a(a.size()-1) = 0;
coefficients_.col(coefficients_.cols()-1) = (R.transpose() * a) + etha;
}
mean_.head<3>() = meanp;
switch (flag)
{
case increase:
if (eigenvectors_.rows() >= eigenvectors_.cols())
break;
case preserve:
if (!basis_only_)
coefficients_ = coefficients_.topRows(coefficients_.rows() - 1);
eigenvectors_ = eigenvectors_.leftCols(eigenvectors_.cols() - 1);
eigenvalues_.resize(eigenvalues_.size()-1);
break;
default:
PCL_ERROR("[pcl::PCA] unknown flag\n");
}
}
