Frenet formula is the most important group of formulas in theory of curve.
弗莱纳公式是曲线论中最基本的一组公式。
After smoothing, fitting and sampling the discrete space curves, the algorithm calculated Frenet frame and curvature for each sampling point.
该算法对离散的曲线进行光顺、拟合和采样，使用空间曲线微分几何性质计算各采样点的曲率和弗朗·内特标架。
Combined with the initial position of the frenet frame and sensor structure, the local geometric parameters of the pipe Central Line can be calculated by using recurrence algorithm.
结合初始活动标架方位、传感器结构，运用递推算法计算管道中心线局部几何性质参数。
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