29                                  matrix_t ref_point_matrix[ref_points_num][3],
 
   39     for (i = 0; i < ref_points_num; i++) {
 
   44         denom = f_i + dist_vec[i];
 
   46             JTf[0] += (point[0] - ref_point_matrix[i][0]) * f_i
 
   48             JTf[1] += (point[1] - ref_point_matrix[i][1]) * f_i
 
   50             JTf[2] += (point[2] - ref_point_matrix[i][2]) * f_i
 
   57                                  matrix_t ref_point_matrix[ref_points_num][3],
 
   67     for (i = 0; i < ref_points_num; i++) {
 
   71                           dist_vec[i]) + dist_vec[i];
 
   74             JTJ[0][0] += (point[0] - ref_point_matrix[i][0]) *
 
   75                          (point[0] - ref_point_matrix[i][0])
 
   77             JTJ[1][1] += (point[1] - ref_point_matrix[i][1]) *
 
   78                          (point[1] - ref_point_matrix[i][1])
 
   80             JTJ[2][2] += (point[2] - ref_point_matrix[i][2]) *
 
   81                          (point[2] - ref_point_matrix[i][2])
 
   83             JTJ[0][1] += (point[0] - ref_point_matrix[i][0]) *
 
   84                          (point[1] - ref_point_matrix[i][1])
 
   86             JTJ[0][2] += (point[0] - ref_point_matrix[i][0]) *
 
   87                          (point[2] - ref_point_matrix[i][2])
 
   89             JTJ[1][2] += (point[1] - ref_point_matrix[i][1]) *
 
   90                          (point[2] - ref_point_matrix[i][2])
 
   95     JTJ[1][0] = JTJ[0][1];
 
   96     JTJ[2][0] = JTJ[0][2];
 
   97     JTJ[2][1] = JTJ[1][2];
 
  101                                matrix_t ref_point_matrix[ref_points_num][3],
 
  107     for (i = 0; i < ref_points_num; i++) {
 
  112                     - ref_point_matrix[i][0],
 
  117                     - ref_point_matrix[i][1],
 
  121                     - ref_point_matrix[i][2],
 
  124             J[i][0] = (point[0] - ref_point_matrix[i][0]) / denom;
 
  125             J[i][1] = (point[1] - ref_point_matrix[i][1]) / denom;
 
  126             J[i][2] = (point[2] - ref_point_matrix[i][2]) / denom;
 
  133                                      matrix_t ref_point_matrix[ref_points_num][3],
 
  143     for (i = 0; i < ref_points_num; i++) {
 
  148                     - ref_point_matrix[i][0],
 
  153                     - ref_point_matrix[i][1],
 
  157                     - ref_point_matrix[i][2],
 
  160             j_i_0 = (point[0] - ref_point_matrix[i][0]) / denom;
 
  161             j_i_1 = (point[1] - ref_point_matrix[i][1]) / denom;
 
  162             j_i_2 = (point[2] - ref_point_matrix[i][2]) / denom;
 
  164         J_s[i] = j_i_0 * s[0] + j_i_1 * s[1] + j_i_2 * s[2];