Rotation Manipulation
suppose that :
,
then we have :
further, we can get the derivative :
Line Preservation
suppose that :
,
then we have :
further, we can get the derivative :
Shape Preservation
suppose that :
,
then we have :
further, we can get the derivative :
Boundary Preservation
further, we can get the derivative :
Optimization
Step 1 : Fix θ solve for V
Sparse Linear System :
V is the minimum point of total energy above, thus, let :
we can get the solution for V.
Step 2 : Fix V solve for θ
Part 1 : Fix Φ, update θ
suppose that :
we have :
then let :
by solving a sparse linear system, we can get the solution of θ :
Part 2 : Fix θ, update Φ
the solution of Φ can be easily approximately reached by enumeration based on iteration methods(increase β gradually).