33                                    matrix_t ref_point_matrix[ref_point_num][3],
 
   38     for (
int i = 0; i < ref_point_num; i++) {
 
   40         matrix_t X_Xi = point[0] - ref_point_matrix[i][0];
 
   41         matrix_t Y_Yi = point[1] - ref_point_matrix[i][1];
 
   42         matrix_t Z_Zi = point[2] - ref_point_matrix[i][2];
 
  100                                      matrix_t ref_point_matrix[ref_points_num][3],
 
  113                                      matrix_t ref_points_matrix[ref_points_num][3],
 
  131                                          matrix_t ref_point_matrix[ref_points_num][3],
 
  141     for (i = 0; i < ref_points_num; i++) {
 
  142         X_Xi = point[0] - ref_point_matrix[i][0];
 
  143         Y_Yi = point[1] - ref_point_matrix[i][1];
 
  144         Z_Zi = point[2] - ref_point_matrix[i][2];
 
  146         X_Xi_sq = pow(X_Xi, 2);
 
  147         Y_Yi_sq = pow(Y_Yi, 2);
 
  148         Z_Zi_sq = pow(Z_Zi, 2);
 
  197         J_s[i] = j_i_0 * s[0] + j_i_1 * s[1] + j_i_2 * s[2];