sumX2=0; sumY2 =0; sumZ2=0; sumXY=0; sumYZ=0; sumXZ=0;
for i=1:N
sumX2 = sumX2 + (listOfPoints(1,i)-Xc(1,:))^2;
sumY2 = sumY2 + (listOfPoints(2,i)-Xc(2,:))^2;
sumZ2 = sumZ2 + (listOfPoints(3,i)-Xc(3,:))^2;
sumXY = sumXY + (listOfPoints(1,i)-Xc(1,:))*(listOfPoints(2,i)-Xc(2,:));
sumYZ = sumYZ + (listOfPoints(2,i)-Xc(2,:))*(listOfPoints(3,i)-Xc(3,:));
sumXZ = sumXZ + (listOfPoints(1,i)-Xc(1,:))*(listOfPoints(3,i)-Xc(3,:));
end