Differential Geometry

Mark Pauly

Outline
Differential Geometry
curvature fundamental forms Laplace-Beltrami operator

Discretization Visual Inspection of Mesh Quality

Mark Pauly

Differential Geometry
Continuous surface
x(u, v) x(u, v) = y(u, v) , (u, v) I 2 R 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= xu x v
xv
p

xu
t

xv xu + sin t = cos xu xv

Mark Pauly

Differential Geometry
Normal Curvature
xu xv n= xu x v
c
p

n
t

xv xu + sin t = cos xu xv

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

minimum curvature 2 = min n ()

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

Mean Curvature

1 1 + 2 = H= 2 2

n ()d
0

Gaussian Curvature K = 1 2
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Differential Geometry
Normal curvature is dened as curvature of the normal curve c x(u, v) at a point p c Can be expressed in terms of fundamental forms as 2 2 T
II ea + 2f ab + gb t = t n (t) T I = Ea2 + 2F ab + Gb2 t t
n

t = axu + bxv

Mark Pauly

Differential Geometry
First fundamental form
I= E F F G := xT xu u xT xv u x T xv u x T xv v

Second fundamental form

II = e f f g := xT n xT n uv uu xT n xT n vv uv

Mark Pauly

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 rst 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
Laplace operator gradient operator 2nd partial derivatives

f = div f =
i

2f x2 i
Cartesian coordinates

function in Euclidean space

divergence operator

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Laplace-Beltrami Operator
Extension of Laplace to functions on manifolds
LaplaceBeltrami gradient operator

S f = divS

Sf

function on manifold S

divergence operator

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Laplace-Beltrami Operator
Extension of Laplace to functions on manifolds
LaplaceBeltrami gradient operator mean curvature

S x = divS
coordinate function

Sx

= 2Hn
surface normal

divergence operator

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Outline
Differential Geometry
curvature fundamental forms Laplace-Beltrami operator

Discretization Visual Inspection of Mesh Quality

Mark Pauly

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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) := |N1 (v)| (f (vi ) f (v))
vi N1 (v)

depends only on connectivity simple and efcient bad approximation for irregular triangulations

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Discrete Laplace-Beltrami
Cotangent formula
2 S f (v) := A(v)

(cot i + cot i ) (f (vi ) f (v))

vi N1 (v)

v v

A(v)

vi

i
vi vi

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Discrete Laplace-Beltrami
Cotangent formula
2 S f (v) := A(v)

(cot i + cot i ) (f (vi ) f (v))

vi N1 (v)

Problems
negative weights depends on triangulation

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Discrete Curvatures
Mean curvature
H = S x

Gaussian curvature
G = (2
j

A
j

j )/A

Principal curvatures
1 = H + H2 G
Mark Pauly

2 = H

H2 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

Mark Pauly

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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 dA 2 1
S 2 2

1 t1

2 t2

dA

strain energy
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variation of curvature
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Mesh Quality

2 + 2 dA 2 1
S

1 t1

2 t2

dA

strain energy
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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 Reection lines

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

C0

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

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Mesh Quality
Visual inspection of sensitive attributes
Specular shading Reection 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
e1
r2 r1 < e1 e2

e2

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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