parameters: (self,pt)
docstring: Online estimation of best fit plane
docstring_summary: Online estimation of best fit plane
docstring_tokens: Online estimation of best fit plane
function: def add_point(self,pt):
          """Online estimation of best fit plane"""
          new_count = self.count + 1
          new_centroid = self.centroid + (pt-self.centroid)/new_count
          old_sse = (self.cov + np.outer(self.centroid,self.centroid))*self.count
          new_sse = old_sse + np.outer(pt,pt)
          new_cov = new_sse/new_count - np.outer(new_centroid,new_centroid)
          self.count = new_count
          self.centroid = new_centroid
          self.cov = new_cov
          self._update_plane()
function_tokens: def add_point ( self , pt ) : new_count = self . count + 1 new_centroid = self . centroid + ( pt - self . centroid ) / new_count old_sse = ( self . cov + np . outer ( self . centroid , self . centroid ) ) * self . count new_sse = old_sse + np . outer ( pt , pt ) new_cov = new_sse / new_count - np . outer ( new_centroid , new_centroid ) self . count = new_count self . centroid = new_centroid self . cov = new_cov self . _update_plane ( )