Like as in, the Callaghan-catmull spline, and Callaghan's " Laws of robotics" ?

个，卡拉翰条函数，和卡拉翰" 机器人学定律" 的个卡拉翰吗？

This might seem like overkill because you're not changing every attribute for every key pose, but it will really help simplify your process when it comes time to switching to spline mode from stepped keys.

可能看似有些余， 因为你并非每个关键姿势都要调整所有属性，但当你需要从阶梯式关键帧切换到条模式， 做确实能大大简化你的流程。

Then, the cavity contour is obtained using a customized B-spline-based sparse reconstruction method.

然后，使用基于B条的稀疏重建方法获取空腔轮廓。