这篇文章 就是在dynamic fusion上面加了骨骼的约束
公式(2)的能量由四部分组成
公式(3)
E
n
o
n
r
i
g
i
d
E_{nonrigid}
Enonrigid measures the distance between the vertices warped by the nodes and reprojected vertices
E
s
k
e
l
e
t
o
n
E_{skeleton}
Eskeleton measures the distance between the vertices warped by the skeleton and reprojected vertices
公式(7)
E
s
m
o
o
t
h
n
e
s
s
E_{smoothness}
Esmoothness 相邻nodes的smoothness term
公式(8)
E
b
i
n
d
i
n
g
E_{binding}
Ebinding measure the distance between the node warped by itself transformation and the node wapred by the skeleton.
4.4
T
n
i
=
I
+
ζ
^
i
\mathbf T_{ni} = \mathbf I + \hat{\zeta}_i
Tni=I+ζ^i
每个node只有一个twist
T b i = I + θ 0 ξ ^ 0 + ∑ k ∈ k i θ k ξ ^ k \mathbf T_{bi} = \mathbf I + \theta_0\hat{\xi}_0 + \sum_{k \in {\mathcal k_i}}\theta_k\hat{\xi}_k Tbi=I+θ0ξ^0+∑k∈kiθkξ^k
对于每个joint, 根节点有个twist, 然后有 ∣ k i ∣ |\mathcal k_i| ∣ki∣个父节点
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