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 Changes to be committed:
	modified:   hostdepend/ARM64MAC64
	modified:   include/Matrix3D.h
	modified:   src/Objects/General/Matrix3D/doc/Matrix3D.html
	modified:   src/Objects/General/Matrix3D/inc/Matrix3D.h
	modified:   src/Objects/General/Matrix3D/src/matrix3DUtil.c
	modified:   src/Tools/Config/Define.inc
	modified:   src/Tools/eosPoint/eosPointICP/Config/OptionControlFile
	modified:   src/Tools/eosPoint/eosPointICP/inc/eosPointICP.h
	modified:   src/Tools/eosPoint/eosPointICP/src/argCheck.c
	modified:   src/Tools/eosPoint/eosPointICP/src/eosPointICP.c
	modified:   src/Tools/eosPoint/eosPointICP/src/eosPointICP.html
	modified:   src/Tools/eosPoint/eosPointICP/src/eosPointICP.pane
	modified:   src/Tools/eosPoint/eosPointICP/src/init.c
	modified:   src/Tools/eosPoint/eosPointICP/src/usage.c

 Changes not staged for commit:
	modified:   hostdepend/ARM64MAC64 (new commits)
	modified:   include/eosMATH.h

diff --git a/hostdepend/ARM64MAC64 b/hostdepend/ARM64MAC64
index 92a934b..7ebda9e 160000 (submodule)
--- a/hostdepend/ARM64MAC64
+++ b/hostdepend/ARM64MAC64
@@ -1 +1 @@
-Subproject commit 92a934bf811f81116e570020ea58fb27ebc2b2f0
+Subproject commit 7ebda9ed2e21a84121c743deccecaf54165f3f59

diff --git a/include/Matrix3D.h b/include/Matrix3D.h
index b4e61b0..6f48268 100644 (file)
--- a/include/Matrix3D.h
+++ b/include/Matrix3D.h
@@ -89,6 +89,9 @@ extern void matrix3DRotationSetFollowingEulerAngle(Matrix3D Matrix, const char M
 extern void matrix3DRotationAntiSetFollowingEulerAngle(Matrix3D Matrix, const char Mode[4], matrix3DParaTypeReal rot1, matrix3DParaTypeReal rot2, matrix3DParaTypeReal rot3, long mode);
 extern void matrix3DEulerAngleGetFromMatrix3D(Matrix3D Matrix, const char Mode[4], matrix3DParaTypeReal* rot1, matrix3DParaTypeReal* rot2, matrix3DParaTypeReal* rot3, long mode);
 
+/*
+*/
+extern void matrix3DScale(Matrix3D, double ratio);
 
 /* prototype end */
 

diff --git a/src/Objects/General/Matrix3D/doc/Matrix3D.html b/src/Objects/General/Matrix3D/doc/Matrix3D.html
index bcbf58e..5f34210 100755 (executable)
--- a/src/Objects/General/Matrix3D/doc/Matrix3D.html
+++ b/src/Objects/General/Matrix3D/doc/Matrix3D.html
@@ -100,6 +100,9 @@ extern void matrix3DRotationSetFollowingEulerAngle(Matrix3D Matrix, const char M
 extern void matrix3DRotationAntiSetFollowingEulerAngle(Matrix3D Matrix, const char Mode[4], matrix3DParaTypeReal rot1, matrix3DParaTypeReal rot2, matrix3DParaTypeReal rot3, long mode);
 extern void matrix3DEulerAngleGetFromMatrix3D(Matrix3D Matrix, const char Mode[4], matrix3DParaTypeReal* rot1, matrix3DParaTypeReal* rot2, matrix3DParaTypeReal* rot3, long mode);
 
+/*
+*/
+extern void matrix3DScale(Matrix3D, double ratio);
 
 /* prototype end */
 

diff --git a/src/Objects/General/Matrix3D/inc/Matrix3D.h b/src/Objects/General/Matrix3D/inc/Matrix3D.h
index b4e61b0..6f48268 100755 (executable)
--- a/src/Objects/General/Matrix3D/inc/Matrix3D.h
+++ b/src/Objects/General/Matrix3D/inc/Matrix3D.h
@@ -89,6 +89,9 @@ extern void matrix3DRotationSetFollowingEulerAngle(Matrix3D Matrix, const char M
 extern void matrix3DRotationAntiSetFollowingEulerAngle(Matrix3D Matrix, const char Mode[4], matrix3DParaTypeReal rot1, matrix3DParaTypeReal rot2, matrix3DParaTypeReal rot3, long mode);
 extern void matrix3DEulerAngleGetFromMatrix3D(Matrix3D Matrix, const char Mode[4], matrix3DParaTypeReal* rot1, matrix3DParaTypeReal* rot2, matrix3DParaTypeReal* rot3, long mode);
 
+/*
+*/
+extern void matrix3DScale(Matrix3D, double ratio);
 
 /* prototype end */
 

diff --git a/src/Objects/General/Matrix3D/src/matrix3DUtil.c b/src/Objects/General/Matrix3D/src/matrix3DUtil.c
index 447d20f..f6be8b2 100644 (file)
--- a/src/Objects/General/Matrix3D/src/matrix3DUtil.c
+++ b/src/Objects/General/Matrix3D/src/matrix3DUtil.c
@@ -45,6 +45,18 @@ matrix3DCopy(Matrix3D dst, Matrix3D src)
 }
 
 void
+matrix3DScale(Matrix3D mat, double ratio)
+{
+       int i, j;
+
+       for(i=0; i<4; i++) {
+       for(j=0; j<4; j++) {
+               mat[i][j] *= ratio; 
+       }
+       }
+}
+
+void
 matrix3DInverse(Matrix3D mat)
 {
        int i, j;

diff --git a/src/Tools/Config/Define.inc b/src/Tools/Config/Define.inc
index 49cde0d..b464404 100644 (file)
--- a/src/Tools/Config/Define.inc
+++ b/src/Tools/Config/Define.inc
@@ -17,3 +17,9 @@ WORLDNAME=Tools
 WORLDNAME=Tools
 WORLDNAME=Tools
 WORLDNAME=Tools
+WORLDNAME=Tools
+WORLDNAME=Tools
+WORLDNAME=Tools
+WORLDNAME=Tools
+WORLDNAME=Tools
+WORLDNAME=Tools

diff --git a/src/Tools/eosPoint/eosPointICP/Config/OptionControlFile b/src/Tools/eosPoint/eosPointICP/Config/OptionControlFile
index 3ff4ac8..71c4009 100755 (executable)
--- a/src/Tools/eosPoint/eosPointICP/Config/OptionControlFile
+++ b/src/Tools/eosPoint/eosPointICP/Config/OptionControlFile
@@ -2,14 +2,18 @@
 # FileFormat
 "-i","-i[nput]","Input: eosPoint","Essential","1","1","In","inFile","NULL"
 "-it","-i[nput]t[ype]","eosPointType","Optional","1","1","InType","Integer","2"
+"-iMat","-i[nput]Mat[rix]","Input: Matrix3D for initial","Optional","1","1","InMat","inFile","NULL"
 "-r","-r[eference]","Input: esoPoint","Essential","1","1","Ref","inFile","NULL"
 "-rt","-r[eference]t[ype]","Input: esoPoint","Optional","1","1","RefType","Integer","2"
+"-rMat","-r[eference]Mat[rix]","Input: Matrix3D for initial","Optional","1","1","RefMat","inFile","NULL"
 "-o","-o[utput]","OutputDataFile","Essential","1","1","Out","outFile","NULL"
 "-ot","-o[utput]t[ype]","OutputDataFile","Essential","1","1","OutType","Integer","2"
-"-c","-c[onfig]","ConfigurationFile","Optional","1","1","configFile","inFile","NULL"
 "-EAMode","-EAMode","Euler Angle","Optional","1","1","EAMode","String","ZEYS"
+"-R","-R[atio]","Mag","Optional","1","1","Ratio","Real","1.0"
 "-Iter","-Iter[ationLimit]","IteretionLimit","Optional","1","1","IterationLimit","Integer","10000"
 "-Pattern","-Pattern","Pickup Pattern","Optional","1","1","Pattern","Integer","10"
 "-Thres","-Thres[hold]","Threshold","Optional","1","1","ScoreThreshold","Real","0.0"
 "-Pick","-Pick[upPercent]","Pickup Percent","Optional","1","1","Pickup","Real","0.8"
+"-debug","-debug","Debug Mode","Optional","1","1","Debug","Integer","0"
 "-m","-m[ode]","Mode","Optional","1","1","mode","Integer","0"
+"-c","-c[onfig]","ConfigurationFile","Optional","1","1","configFile","inFile","NULL"

diff --git a/src/Tools/eosPoint/eosPointICP/inc/eosPointICP.h b/src/Tools/eosPoint/eosPointICP/inc/eosPointICP.h
index 0cb71a5..4aace08 100755 (executable)
--- a/src/Tools/eosPoint/eosPointICP/inc/eosPointICP.h
+++ b/src/Tools/eosPoint/eosPointICP/inc/eosPointICP.h
@@ -20,6 +20,10 @@ typedef struct eosPointICPInfo {
     long flagInType;
     long InType;
     
+    long flagInMat;
+    char* InMat;
+    FILE* fptInMat;
+    
     long flagRef;
     char* Ref;
     FILE* fptRef;
@@ -27,6 +31,10 @@ typedef struct eosPointICPInfo {
     long flagRefType;
     long RefType;
     
+    long flagRefMat;
+    char* RefMat;
+    FILE* fptRefMat;
+    
     long flagOut;
     char* Out;
     FILE* fptOut;
@@ -34,13 +42,12 @@ typedef struct eosPointICPInfo {
     long flagOutType;
     long OutType;
     
-    long flagconfigFile;
-    char* configFile;
-    FILE* fptconfigFile;
-    
     long flagEAMode;
     char* EAMode;
     
+    long flagRatio;
+    float Ratio;
+    
     long flagIterationLimit;
     long IterationLimit;
     
@@ -53,9 +60,16 @@ typedef struct eosPointICPInfo {
     long flagPickup;
     float Pickup;
     
+    long flagDebug;
+    long Debug;
+    
     long flagmode;
     long mode;
     
+    long flagconfigFile;
+    char* configFile;
+    FILE* fptconfigFile;
+    
 } eosPointICPInfo;
 #ifdef __cplusplus
 extern "C" {

diff --git a/src/Tools/eosPoint/eosPointICP/src/argCheck.c b/src/Tools/eosPoint/eosPointICP/src/argCheck.c
index 9613d57..7b4a64a 100755 (executable)
--- a/src/Tools/eosPoint/eosPointICP/src/argCheck.c
+++ b/src/Tools/eosPoint/eosPointICP/src/argCheck.c
@@ -50,6 +50,17 @@ argCheck(eosPointICPInfo* info, int argc, char* argv[])
                     }
                     SBREAK;
                 }
+                SCASE("iMat") {
+                    if(i+1<argc) {
+                        info->InMat = stringGetNthWord(argv[i+1], 1, " ,");
+                        i++;
+                        info->flagInMat++;
+                    } else {
+                        usage(argv[0]);
+                        exit(EXIT_FAILURE);
+                    }
+                    SBREAK;
+                }
                 SCASE("r") {
                     if(i+1<argc) {
                         info->Ref = stringGetNthWord(argv[i+1], 1, " ,");
@@ -72,6 +83,17 @@ argCheck(eosPointICPInfo* info, int argc, char* argv[])
                     }
                     SBREAK;
                 }
+                SCASE("rMat") {
+                    if(i+1<argc) {
+                        info->RefMat = stringGetNthWord(argv[i+1], 1, " ,");
+                        i++;
+                        info->flagRefMat++;
+                    } else {
+                        usage(argv[0]);
+                        exit(EXIT_FAILURE);
+                    }
+                    SBREAK;
+                }
                 SCASE("o") {
                     if(i+1<argc) {
                         info->Out = stringGetNthWord(argv[i+1], 1, " ,");
@@ -94,22 +116,22 @@ argCheck(eosPointICPInfo* info, int argc, char* argv[])
                     }
                     SBREAK;
                 }
-                SCASE("c") {
+                SCASE("EAMode") {
                     if(i+1<argc) {
-                        info->configFile = stringGetNthWord(argv[i+1], 1, " ,");
+                        info->EAMode = stringGetNthWord(argv[i+1], 1, " ,");
                         i++;
-                        info->flagconfigFile++;
+                        info->flagEAMode++;
                     } else {
                         usage(argv[0]);
                         exit(EXIT_FAILURE);
                     }
                     SBREAK;
                 }
-                SCASE("EAMode") {
+                SCASE("R") {
                     if(i+1<argc) {
-                        info->EAMode = stringGetNthWord(argv[i+1], 1, " ,");
+                        info->Ratio = stringGetNthRealData(argv[i+1], 1, " ,");
                         i++;
-                        info->flagEAMode++;
+                        info->flagRatio++;
                     } else {
                         usage(argv[0]);
                         exit(EXIT_FAILURE);
@@ -160,6 +182,17 @@ argCheck(eosPointICPInfo* info, int argc, char* argv[])
                     }
                     SBREAK;
                 }
+                SCASE("debug") {
+                    if(i+1<argc) {
+                        info->Debug = stringGetNthIntegerData(argv[i+1], 1, " ,");
+                        i++;
+                        info->flagDebug++;
+                    } else {
+                        usage(argv[0]);
+                        exit(EXIT_FAILURE);
+                    }
+                    SBREAK;
+                }
                 SCASE("m") {
                     if(i+1<argc) {
                         info->mode = stringGetNthIntegerData(argv[i+1], 1, " ,");
@@ -171,6 +204,17 @@ argCheck(eosPointICPInfo* info, int argc, char* argv[])
                     }
                     SBREAK;
                 }
+                SCASE("c") {
+                    if(i+1<argc) {
+                        info->configFile = stringGetNthWord(argv[i+1], 1, " ,");
+                        i++;
+                        info->flagconfigFile++;
+                    } else {
+                        usage(argv[0]);
+                        exit(EXIT_FAILURE);
+                    }
+                    SBREAK;
+                }
                 SCASE("h") {
                     usage(argv[0]);
                     exit(EXIT_SUCCESS);

diff --git a/src/Tools/eosPoint/eosPointICP/src/eosPointICP.c b/src/Tools/eosPoint/eosPointICP/src/eosPointICP.c
index 2f5e09f..c7834b5 100755 (executable)
--- a/src/Tools/eosPoint/eosPointICP/src/eosPointICP.c
+++ b/src/Tools/eosPoint/eosPointICP/src/eosPointICP.c
@@ -16,6 +16,8 @@
 
 #define DEBUG
 
+static int __debug_mode__=0;
+
 /*
 Example:
 typedef struct leosPointICPInfo {
@@ -620,15 +622,42 @@ int main(int argc, char *argv[])
        int cnt_in_point, cnt_ref_point;
        eosPoint inP, refP, pickup_inP;
        eosPointIcpResult icp_result_set, best_icp_result_set;
+    Matrix3D inMat;
+    Matrix3D refMat;
 
        init0(&info);
        argCheck(&info, argc, argv);
        init1(&info);
 
        DEBUGPRINT("Program Start\n");
+    __debug_mode__ = info.Debug;
 
        eosPointRead(info.fptIn, &inP, info.InType);
+    if(1<=__debug_mode__) {
+        eosPointWrite(stderr, &inP, info.InType);
+    }
+    matrix3DInit(inMat); 
+    if(info.flagInMat) {
+        matrix3DFileRead(info.fptInMat, inMat);      
+    } 
+    if(info.flagRatio) {
+        matrix3DScale(inMat, info.Ratio);
+    }
+    eosPointRotate(&inP, inMat);
+
+    if(1<=__debug_mode__) {
+        eosPointWrite(stderr, &inP, info.InType);
+    }
+    
        eosPointRead(info.fptRef, &refP, info.RefType);
+    matrix3DInit(refMat); 
+    if(info.flagRefMat) {
+        matrix3DFileRead(info.fptRefMat, refMat);      
+    } 
+    if(info.flagRatio) {
+        matrix3DScale(refMat, info.Ratio);
+    }
+    eosPointRotate(&refP, refMat);
 
        matrix3DInit(icp_result_set.matrix);
        matrix3DInit(best_icp_result_set.matrix);

diff --git a/src/Tools/eosPoint/eosPointICP/src/eosPointICP.html b/src/Tools/eosPoint/eosPointICP/src/eosPointICP.html
index 7aa8859..36eb2eb 100755 (executable)
--- a/src/Tools/eosPoint/eosPointICP/src/eosPointICP.html
+++ b/src/Tools/eosPoint/eosPointICP/src/eosPointICP.html
@@ -10,17 +10,21 @@ Usage: eosPointICP
 Options:
     [-i[nput]            In                  (NULL      ).as(inFile              ) ] :Essential :Input: eosPoint
     [-i[nput]t[ype]      InType              (2         ).as(Integer             ) ] :Optional  :eosPointType
+    [-i[nput]Mat[rix]    InMat               (NULL      ).as(inFile              ) ] :Optional  :Input: Matrix3D for initial
     [-r[eference]        Ref                 (NULL      ).as(inFile              ) ] :Essential :Input: esoPoint
     [-r[eference]t[ype]  RefType             (2         ).as(Integer             ) ] :Optional  :Input: esoPoint
+    [-r[eference]Mat[rix]RefMat              (NULL      ).as(inFile              ) ] :Optional  :Input: Matrix3D for initial
     [-o[utput]           Out                 (NULL      ).as(outFile             ) ] :Essential :OutputDataFile
     [-o[utput]t[ype]     OutType             (2         ).as(Integer             ) ] :Essential :OutputDataFile
-    [-c[onfig]           configFile          (NULL      ).as(inFile              ) ] :Optional  :ConfigurationFile
     [-EAMode             EAMode              (ZEYS      ).as(String              ) ] :Optional  :Euler Angle
+    [-R[atio]            Ratio               (1.0       ).as(Real                ) ] :Optional  :Mag
     [-Iter[ationLimit]   IterationLimit      (10000     ).as(Integer             ) ] :Optional  :IteretionLimit
     [-Pattern            Pattern             (10        ).as(Integer             ) ] :Optional  :Pickup Pattern
     [-Thres[hold]        ScoreThreshold      (0.0       ).as(Real                ) ] :Optional  :Threshold
     [-Pick[upPercent]    Pickup              (0.8       ).as(Real                ) ] :Optional  :Pickup Percent
+    [-debug              Debug               (0         ).as(Integer             ) ] :Optional  :Debug Mode
     [-m[ode]             mode                (0         ).as(Integer             ) ] :Optional  :Mode
+    [-c[onfig]           configFile          (NULL      ).as(inFile              ) ] :Optional  :ConfigurationFile
 ----- Additional Usage -----
 eosPointFormat
 type-0: x y z

diff --git a/src/Tools/eosPoint/eosPointICP/src/eosPointICP.pane b/src/Tools/eosPoint/eosPointICP/src/eosPointICP.pane
index df2f4a9..fdfd022 100755 (executable)
--- a/src/Tools/eosPoint/eosPointICP/src/eosPointICP.pane
+++ b/src/Tools/eosPoint/eosPointICP/src/eosPointICP.pane
@@ -9,17 +9,21 @@
         -Q 1 0 5.25x1+47+0 'Close'
         -I 1 0 1 1 0 1 -1x1+1+1.500000 ' ' 'In' 'Input: eosPoint' i
         -i 1 0 1 0 0 -1x1+1+3.000000 0 0 2 0 0 'InType' 'eosPointType' it
-        -I 1 0 1 1 0 1 -1x1+1+4.500000 ' ' 'Ref' 'Input: esoPoint' r
-        -i 1 0 1 0 0 -1x1+1+6.000000 0 0 2 0 0 'RefType' 'Input: esoPoint' rt
-        -O 1 0 1 1 0 1 -1x1+1+7.500000 ' ' 'Out' 'OutputDataFile' o
-        -i 1 0 1 1 0 -1x1+1+9.000000 0 0 2 0 0 'OutType' 'OutputDataFile' ot
-        -I 1 0 1 0 0 1 -1x1+1+10.500000 ' ' 'configFile' 'ConfigurationFile' c
-        -s 1 0 1 0 0 -1x1+1+12.000000 0 0 0 0 0 'EAMode' 'Euler Angle' EAMode
-        -i 1 0 1 0 0 -1x1+1+13.500000 0 0 10000 0 0 'IterationLimit' 'IteretionLimit' Iter
-        -i 1 0 1 0 0 -1x1+1+15.000000 0 0 10 0 0 'Pattern' 'Pickup Pattern' Pattern
-        -f 1 0 1 0 0 -1x1+1+16.500000 0 0 0.000000 0 0 0 'ScoreThreshold' 'Threshold' Thres
-        -f 1 0 1 0 0 -1x1+1+18.000000 0 0 0.800000 0 0 0 'Pickup' 'Pickup Percent' Pick
-        -i 1 0 1 0 0 -1x1+1+19.500000 0 0 0 0 0 'mode' 'Mode' m
+        -I 1 0 1 0 0 1 -1x1+1+4.500000 ' ' 'InMat' 'Input: Matrix3D for initial' iMat
+        -I 1 0 1 1 0 1 -1x1+1+6.000000 ' ' 'Ref' 'Input: esoPoint' r
+        -i 1 0 1 0 0 -1x1+1+7.500000 0 0 2 0 0 'RefType' 'Input: esoPoint' rt
+        -I 1 0 1 0 0 1 -1x1+1+9.000000 ' ' 'RefMat' 'Input: Matrix3D for initial' rMat
+        -O 1 0 1 1 0 1 -1x1+1+10.500000 ' ' 'Out' 'OutputDataFile' o
+        -i 1 0 1 1 0 -1x1+1+12.000000 0 0 2 0 0 'OutType' 'OutputDataFile' ot
+        -s 1 0 1 0 0 -1x1+1+13.500000 0 0 0 0 0 'EAMode' 'Euler Angle' EAMode
+        -f 1 0 1 0 0 -1x1+1+15.000000 0 0 1.000000 0 0 0 'Ratio' 'Mag' R
+        -i 1 0 1 0 0 -1x1+1+16.500000 0 0 10000 0 0 'IterationLimit' 'IteretionLimit' Iter
+        -i 1 0 1 0 0 -1x1+1+18.000000 0 0 10 0 0 'Pattern' 'Pickup Pattern' Pattern
+        -f 1 0 1 0 0 -1x1+1+19.500000 0 0 0.000000 0 0 0 'ScoreThreshold' 'Threshold' Thres
+        -f 1 0 1 0 0 -1x1+1+21.000000 0 0 0.800000 0 0 0 'Pickup' 'Pickup Percent' Pick
+        -i 1 0 1 0 0 -1x1+1+22.500000 0 0 0 0 0 'Debug' 'Debug Mode' debug
+        -i 1 0 1 0 0 -1x1+1+24.000000 0 0 0 0 0 'mode' 'Mode' m
+        -I 1 0 1 0 0 1 -1x1+1+25.500000 ' ' 'configFile' 'ConfigurationFile' c
     -E
   -E
 -E

diff --git a/src/Tools/eosPoint/eosPointICP/src/init.c b/src/Tools/eosPoint/eosPointICP/src/init.c
index 783a16a..4fe78dc 100755 (executable)
--- a/src/Tools/eosPoint/eosPointICP/src/init.c
+++ b/src/Tools/eosPoint/eosPointICP/src/init.c
@@ -14,17 +14,21 @@ init0(eosPointICPInfo* info)
 {
     info->fptIn = NULL;    info->flagIn = 0;
     info->InType = 2;    info->flagInType = 0;
+    info->fptInMat = NULL;    info->flagInMat = 0;
     info->fptRef = NULL;    info->flagRef = 0;
     info->RefType = 2;    info->flagRefType = 0;
+    info->fptRefMat = NULL;    info->flagRefMat = 0;
     info->fptOut = NULL;    info->flagOut = 0;
     info->OutType = 2;    info->flagOutType = 0;
-    info->fptconfigFile = NULL;    info->flagconfigFile = 0;
     info->EAMode = stringGetNthWord("ZEYS", 1, "\0");    info->flagEAMode = 0;
+    info->Ratio = 1.0;    info->flagRatio = 0;
     info->IterationLimit = 10000;    info->flagIterationLimit = 0;
     info->Pattern = 10;    info->flagPattern = 0;
     info->ScoreThreshold = 0.0;    info->flagScoreThreshold = 0;
     info->Pickup = 0.8;    info->flagPickup = 0;
+    info->Debug = 0;    info->flagDebug = 0;
     info->mode = 0;    info->flagmode = 0;
+    info->fptconfigFile = NULL;    info->flagconfigFile = 0;
 }
 
 void
@@ -44,6 +48,10 @@ init1(eosPointICPInfo* info)
     if(info->flagInType) {
     }
     
+    if(info->flagInMat) {
+        info->fptInMat = fileOpen(info->InMat, "r");
+    }
+    
     if(!info->flagRef) {
         stringGetFromFile(s, "Ref", stdin, stdout, 0);
         info->Ref = stringGetNthWord(s, 1, " ,\t");
@@ -56,6 +64,10 @@ init1(eosPointICPInfo* info)
     if(info->flagRefType) {
     }
     
+    if(info->flagRefMat) {
+        info->fptRefMat = fileOpen(info->RefMat, "r");
+    }
+    
     if(!info->flagOut) {
         stringGetFromFile(s, "Out", stdin, stdout, 0);
         info->Out = stringGetNthWord(s, 1, " ,\t");
@@ -73,11 +85,10 @@ init1(eosPointICPInfo* info)
     if(info->flagOutType) {
     }
     
-    if(info->flagconfigFile) {
-        info->fptconfigFile = fileOpen(info->configFile, "r");
+    if(info->flagEAMode) {
     }
     
-    if(info->flagEAMode) {
+    if(info->flagRatio) {
     }
     
     if(info->flagIterationLimit) {
@@ -92,9 +103,16 @@ init1(eosPointICPInfo* info)
     if(info->flagPickup) {
     }
     
+    if(info->flagDebug) {
+    }
+    
     if(info->flagmode) {
     }
     
+    if(info->flagconfigFile) {
+        info->fptconfigFile = fileOpen(info->configFile, "r");
+    }
+    
 }
 #ifdef KHOROS
 #include <stdio.h>

diff --git a/src/Tools/eosPoint/eosPointICP/src/usage.c b/src/Tools/eosPoint/eosPointICP/src/usage.c
index 507127e..b55b244 100755 (executable)
--- a/src/Tools/eosPoint/eosPointICP/src/usage.c
+++ b/src/Tools/eosPoint/eosPointICP/src/usage.c
@@ -9,17 +9,21 @@ usage(char* thisProgram)
     fprintf(stderr, "Options:\n");
     fprintf(stderr, "    [-i[nput]            In                  (NULL      ).as(inFile              ) ] :Essential :Input: eosPoint\n");
     fprintf(stderr, "    [-i[nput]t[ype]      InType              (2         ).as(Integer             ) ] :Optional  :eosPointType\n");
+    fprintf(stderr, "    [-i[nput]Mat[rix]    InMat               (NULL      ).as(inFile              ) ] :Optional  :Input: Matrix3D for initial\n");
     fprintf(stderr, "    [-r[eference]        Ref                 (NULL      ).as(inFile              ) ] :Essential :Input: esoPoint\n");
     fprintf(stderr, "    [-r[eference]t[ype]  RefType             (2         ).as(Integer             ) ] :Optional  :Input: esoPoint\n");
+    fprintf(stderr, "    [-r[eference]Mat[rix]RefMat              (NULL      ).as(inFile              ) ] :Optional  :Input: Matrix3D for initial\n");
     fprintf(stderr, "    [-o[utput]           Out                 (NULL      ).as(outFile             ) ] :Essential :OutputDataFile\n");
     fprintf(stderr, "    [-o[utput]t[ype]     OutType             (2         ).as(Integer             ) ] :Essential :OutputDataFile\n");
-    fprintf(stderr, "    [-c[onfig]           configFile          (NULL      ).as(inFile              ) ] :Optional  :ConfigurationFile\n");
     fprintf(stderr, "    [-EAMode             EAMode              (ZEYS      ).as(String              ) ] :Optional  :Euler Angle\n");
+    fprintf(stderr, "    [-R[atio]            Ratio               (1.0       ).as(Real                ) ] :Optional  :Mag\n");
     fprintf(stderr, "    [-Iter[ationLimit]   IterationLimit      (10000     ).as(Integer             ) ] :Optional  :IteretionLimit\n");
     fprintf(stderr, "    [-Pattern            Pattern             (10        ).as(Integer             ) ] :Optional  :Pickup Pattern\n");
     fprintf(stderr, "    [-Thres[hold]        ScoreThreshold      (0.0       ).as(Real                ) ] :Optional  :Threshold\n");
     fprintf(stderr, "    [-Pick[upPercent]    Pickup              (0.8       ).as(Real                ) ] :Optional  :Pickup Percent\n");
+    fprintf(stderr, "    [-debug              Debug               (0         ).as(Integer             ) ] :Optional  :Debug Mode\n");
     fprintf(stderr, "    [-m[ode]             mode                (0         ).as(Integer             ) ] :Optional  :Mode\n");
+    fprintf(stderr, "    [-c[onfig]           configFile          (NULL      ).as(inFile              ) ] :Optional  :ConfigurationFile\n");
     additionalUsage();
 }