)NPUT $ATA

2ANGE 3CAN #!$ 4OMOGRAPHY

2EMOVAL OF TOPOLOGICAL AND GEOMETRICAL ERRORS

!NALYSIS OF SURFACE QUALITY

3URFACE SMOOTHING FOR NOISE REMOVAL

Differential Geometry
0ARAMETERIZATION

Mark Pauly
3IMPLIFICATION FOR COMPLEXITY REDUCTION

2EMESHING FOR IMPROVING MESH QUALITY

&REEFORM AND MULTIRESOLUTION MODELING

Outline
Differential Geometry
curvature
fundamental forms
Laplace-Beltrami operator
Discretization
Visual Inspection of Mesh Quality

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Differential Geometry
Continuous surface

x(u, v)
x(u, v) = y(u, v) , (u, v) IR2
z(u, v)

Normal vector
n = (xu xv )/"xu xv "

assuming regular parameterization, i.e.

xu xv "= 0

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Differential Geometry
Normal Curvature

xu xv
n n=
"xu xv "
xu xv
p
t

xu xv
t = cos + sin
!xu ! !xv !

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Differential Geometry
Normal Curvature

xu xv
n n=
"xu xv "

t c
p

xu xv
t = cos + sin
!xu ! !xv !

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Differential Geometry
Principal Curvatures
maximum curvature 1 = max n ()

minimum curvature 2 = min n ()

Euler Theorem: n (t) = n () = 1 cos2 + 2 sin2

! 2
1 + 2 1
Mean Curvature H= = n ()d
2 2 0

Gaussian Curvature K = 1 2

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Differential Geometry
Normal curvature is defined as curvature of the
normal curve c x(u, v) at a point p c
Can be expressed in terms of fundamental forms
as
t II t
T 2 2
ea + 2f ab + gb

n (t) = T =
t It Ea2 + 2F ab + Gb2

t p
c t = axu + bxv

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Differential Geometry
First fundamental form
! " ! "
E F xTu xu xTu xv
I= :=
F G xTu xv xTv xv

Second fundamental form

! " ! "
e f xTuu n xTuv n
II = :=
f g xTuv n xTvv n

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Differential Geometry
I and II allow to measure
length, angles, area, curvature
arc element
ds2 = Edu2 + 2F dudv + Gdv 2
area element
!
dA = EG F 2 dudv

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Differential Geometry
Intrinsic geometry: Properties of the surface that
only depend on the first fundamental form
length
angles
Gaussian curvature (Theorema Egregium)

6r 3C(r)
K = lim
r0 r3

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Differential Geometry
A point x on the surface is called
elliptic, if K > 0
parabolic, if K = 0
hyperbolic, if K < 0
umbilical, if 1 = 2

Developable surface K=0

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Laplace Operator

gradient
Laplace 2nd partial
operator
operator derivatives

! 2f
f = divf =
i
x2i

function in Cartesian
divergence
Euclidean space coordinates
operator

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Laplace-Beltrami Operator
Extension of Laplace to functions on manifolds

gradient
Laplace-
operator
Beltrami

S f = divS S f

function on
divergence
manifold S
operator

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Laplace-Beltrami Operator
Extension of Laplace to functions on manifolds

gradient
Laplace- mean
operator
Beltrami curvature

S x = divS S x = 2Hn

coordinate surface
divergence normal
function
operator

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Outline
Differential Geometry
curvature
fundamental forms
Laplace-Beltrami operator
Discretization
Visual Inspection of Mesh Quality

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Discrete Differential Operators
Assumption: Meshes are piecewise linear
approximations of smooth surfaces
Approach: Approximate differential properties at
point x as spatial average over local mesh
neighborhood N(x), where typically
x = mesh vertex
N(x) = n-ring neighborhood or local geodesic ball

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Discrete Laplace-Beltrami
Uniform discretization

1 !
uni f (v) := (f (vi ) f (v))
|N1 (v)|
vi N1 (v)

depends only on connectivity simple and

efficient
bad approximation for irregular triangulations

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Discrete Laplace-Beltrami
Cotangent formula

2 !
S f (v) := (cot i + cot i ) (f (vi ) f (v))
A(v)
vi N1 (v)

v
v A(v) i v

vi i
vi vi

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Discrete Laplace-Beltrami
Cotangent formula

2 !
S f (v) := (cot i + cot i ) (f (vi ) f (v))
A(v)
vi N1 (v)

Problems
negative weights
depends on triangulation

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Discrete Curvatures
Mean curvature
H = !S x!

Gaussian curvature
A
!
G = (2 j )/A
j
j
Principal curvatures
! !
1 = H + H 2 G 2 = H H 2 G

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Links & Literature
P. Alliez: Estimating Curvature Tensors
on Triangle Meshes (source code)
http://www-sop.inria.fr/geometrica/team/
Pierre.Alliez/demos/curvature/

Wardetzky, Mathur, Kaelberer,

Grinspun: Discrete Laplace Operators:
No free lunch, SGP 2007

principal directions

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Outline
Differential Geometry
curvature
fundamental forms
Laplace-Beltrami operator
Discretization
Visual Inspection of Mesh Quality

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Mesh Quality
Smoothness
continuous differentiability of a surface (Ck)

Fairness
aesthetic measure of well-shapedness
principle of simplest shape
fairness measures from physical models
! ! " #2 " #2
2 2 1 2
1 + 2 dA + dA
S S t1 t2
strain energy variation of curvature
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Mesh Quality

! ! " #2 " #2
1 2
21 + 22 dA + dA
S S t1 t2
strain energy variation of curvature
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Mesh Quality
Visual inspection of sensitive attributes
Specular shading

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Mesh Quality
Visual inspection of sensitive attributes
Specular shading
Reflection lines

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Mesh Quality
Visual inspection of sensitive attributes
Specular shading
Reflection lines
differentiability one order lower than surface
can be efficiently computed using graphics hardware

C0 C1 C2
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Mesh Quality
Visual inspection of sensitive attributes
Specular shading
Reflection lines
Curvature
Mean curvature

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Mesh Quality
Visual inspection of sensitive attributes
Specular shading
Reflection lines
Curvature
Mean curvature
Gauss curvature

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Mesh Quality Criteria
Smoothness
Low geometric noise

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Mesh Quality Criteria
Smoothness
Low geometric noise
Adaptive tessellation
Low complexity

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Mesh Quality Criteria
Smoothness
Low geometric noise
Adaptive tessellation
Low complexity
Triangle shape
Numerical robustness

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Triangle Shape Analysis
Circum radius / shortest edge

r1 r1 r2
< e2
e1 e2
e1 r2

Needles and caps

Needle Cap

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Mesh Quality Criteria
Smoothness
Low geometric noise
Adaptive tessellation
Low complexity
Triangle shape
Numerical robustness
Feature preservation
Low normal noise

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Normal Noise Analysis

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Mesh Optimization
Smoothness
Mesh smoothing

Adaptive tessellation
Mesh decimation

Triangle shape
Repair, remeshing

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