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];