Mesh Smoothing

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 Mesh Processing Pipeline

...

Scan Reconstruct Clean Remesh

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 Mesh Quality
Visual inspection of sensitive
sensitive attributes
Specular shading
Flat Gouraud Phong
Shading Shading Shading

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 Mesh Quality
Visual inspection of sensitive
sensitive attributes
Specular shading

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 Mesh Quality
Visual inspection of sensitive
sensitive attributes
Specular shading
Reflection lines

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

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

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

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 Motivation
Filter out high frequency noise

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 Mesh Smoothing
(aka Denoising, Filtering, Fairing)
p
Input: Noisyy mesh ((scanned or other))
Output: Smooth mesh
How: Filter out high frequency noise

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 Smoothing by Filtering
Fourier Transform

=
f(x)

sin(kx)

Slides by Levy et al., SigAsia Course 2009 11

 Smoothing by Filtering
Fourier Transform

x =

Slides by Levy et al., SigAsia Course 2009 12

 Smoothing by Filtering
Fourier Transform

Filtering
Convolution
Inverse
Fourier
Fourier
Transform Geometric space Transform
Frequency space

Slides by Levy et al., SigAsia Course 2009 13

 Filtering on a Mesh

Filtering
[Taubin 95]

Geometric space
Frequency space

? x
?
Slides by Levy et al., SigAsia Course 2009 14
 Laplacian Smoothing
An easier problem: How to smooth a curve?

pi = (xi , yi)

pi-1
pi+1

(pi-1 + pi+1)/2- pi

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 Laplacian Smoothing
An easier problem: How to smooth a curve?

pi = (xi , yi)

pi-1
pi+1

Finite difference
discretization of second
derivative
= Laplace operator in
one dimension 16
 Laplacian Smoothing
Algorithm:
Repeat for m iterations (for non boundary points):

For which ?
0<<1

Closed curve converges to?

Single point

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 Spectral Analysis
Closed Curve

Re write
Re-write

in matrix notation:

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 The Eigenvectors of L

L = VDV T

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 Spectral Analysis
Then:

After m iterations:

Can b
C be d
described
ib d using
i eigen-
i Filtering high
frequencies
decomposition of L

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 Spectral Analysis
Laplacian Smoothing

(10.5ki )
m

ki
21
Laplacian Smoothing on Meshes
Same as for curves:

Ni = {k,l,m,n}
{k l m n}
pi = (xi, yi, zi)

What is pi ? pm pl

pn
pk

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Laplacian Smoothing on Meshes

0 Iterations 5 Iterations 20 Iterations

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 Problem - Shrinkage
Repeated iterations of Laplacian smoothing
shrinks the mesh

original
g 3 steps
p 6 steps
p 18 steps
p original
g

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 Taubin Smoothing
Iterate:
Shrink
Inflate
with > 0 and < 0

original 10 steps 50 steps 200 steps

From Taubin, Siggraph 1995 25
 Spectral Analysis
Taubin Smoothing

f (ki )=(1ki )(1ki )

From Taubin, Siggraph 1995 26

 Laplacian Smoothing

pi = mean curvature normal

mean curvature flow

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Laplace Operator Discretization
The Problem

Sanity check what should happen if the

mesh lies in the plane: pi = (xi, yi, 0) ?

0 Iterations 5 Iterations 28
Laplace Operator Discretization
The Problem

Not good A flat mesh is smooth

smooth, should
stay the same after smoothing

0 Iterations 5 Iterations 29
 Laplace Operator Discretization
The Problem

Not good The result should not depend on

triangle sizes

From Desbrun et al., Siggraph 1999 30

Laplace Operator Discretization
What Went Wrong?

Back to curves:

pi-1 pi pi+1

Same weight for both neighbors,

although one is closer

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Laplace Operator Discretization
The Solution

Use a weighted average to define

lij lik
Whi h weights?
Which i ht ?
pj pi pk

Straight curves will be invariant to smoothing

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 Laplace Operator Discretiztion
Cotangent Weights

Use a weighted average to define

Ni = {k,l,m,n}
pi
Whi h weights?
Which i ht ? ?
pm pl
pi pi
lij pj lij pj
pn
h2
pk
h1

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 Laplace Operator Discretiztion
Cotangent Weights

Use a weighted average to define

N = {k,l,m,n}
Which weights? p
i
i

pi
pj
pm pl
ij ij
pn
pk

hij1 + hij2 1
wij = = (cot ij +cot ij )
lij 2

Planar meshes will be invariant to smoothing

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 Smoothing with
th Cotangent
the C t t Laplacian
L l i

normall normall
and movement
tangential
movement

original Uniform weights Cotangent weights

From Desbrun et al., Siggraph 1999 35

 Filtering on a Mesh

Filtering
[Taubin 95]

Geometric space
Frequency space

? x
?
Slides by Levy et al., SigAsia Course 2009 36
 The Eigenvectors of L

L = VDV T

37
 Spectral Analysis
Cotangent Laplacian

v2 v50

Demo

From Vallet et al., Eurographics 2008 38

 Smoothing using the
Laplacian Eigen-decomposition

From Vallet et al., Eurographics 2008 39

 Geometry Filtering

Demo: http://alice.loria.fr/index.php/software/9-demo/39-manifold-harmonics-demo.html

From Vallet et al., Eurographics 2008 40

 Surface Fairing
Find surfaces which are as
as smooth as
possible
Applications
Smooth blends
Hole
H l filli
filling

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 Fairness
Idea: Penalize unaesthetic
unaesthetic behavior
behavior

Measure fairness
fairness
Principle of the simplest shape
Physical interpretation

Minimize some fairness functional

Surface area, curvature
Membrane energy, thin plate energy

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 Energy Functionals

Membrane
Surface
Thin Plate
Surface

Minimum Variation
Surface
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 Non-Linear
Non Linear Energies
Membrane energy (surface area)

Thin
Thin-plate
plate energy (curvature)

Too complex...
p simplify
p y energies
g

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 Membrane Surfaces
Linearized Energy
Surface parameterization

Membrane energy (surface area)

Variational calculus

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 Thin-Plate Surfaces
Linearized Energy
Surface parameterization

Thin-plate energy (curvature)

Variational calculus

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 Fair Surfaces

Membrane
Thin Plate

Minimal Curvature
Variation
Demo
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 Exercise
Smoothing
Uniform
Cotangent formula

Smoothness visualization
Mean curvature (uniform, weighted)
Gaussian curvature
Triangle shape

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 Exercise
Smoothing
Uniform Laplace-Beltrami

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 Exercise
Smoothing
Cotangent Formula (simplified)

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 Exercise

Smoothing
Uniform Laplace-Beltrami
p

Cotangent Formula

Move vertices in parallel!

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 Exercise
Curvature
Mean Curvature

Gaussian Curvature (simplified)

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 Exercise
Triangle Shape circumradius vs.
vs minimal
edge length

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 Exercise
Triangle Shape

Smoothing

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 References
A Signal Processing Approach to Fair Surface Design, Taubin, Siggraph
95
Implicit Fairing of Irregular Meshes using Diffusion and Curvature Flow,
Desbrun et al., Siggraph 99
A Intuitive
An I t iti Framework
F k for
f Real-Time
R l Ti Freeform
F f Modeling,
M d li Botsch
B t h ett al.,
l
Siggraph 04
Spectral Geometry Processing with Manifold Harmonics, Vallet et al.,
Eurographics 08 08

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