FM 04 Parametrization

Surface Parametrization
Chapter 4
Flächenmodellierung
R. Grosso
Content
•  Motivation
•  Some History
•  Differential Geometry Background
•  Conformal and Harmonic mappings
•  The Spring Model
•  Some remarks: closed surfaces
•  Deformation Analysis
–  Most Isometric ParametrizationS
Motivation
•  Literature
–  Siggraph Course Notes: Mesh Parametrization: Theory and
Practice, 2007. Kai Hormann, Bruno Levy and Alla Sheffer
–  Eurographics 2008 Full-Day Tutorial Geometric Modeling Based
on Polygonal Meshes
–  Surface Parameterization: a Tutorial and Survey. Michael S.
Floater and Kai Hormann
Motivation
•  Texture mapping
Motivation
•  Surface Fitting
Parameter domain
Motivation
•  Mesh completion, surface reconstruction
Mesh completion, Kraevoy and Sheffer 2005
Motivation
•  Remeshing
parameter domain
Motivation
•  Mesh editing
Motivation
•  Detail Mapping
Siggraph Course Notes 2007: Mesh Parameterization: Theory and Practice
Motivation
•  Complex topology
segmentation and texture atlases for Isocharts, Zhou et al. 2004
Some History
•  Notes from Carlos A. Furuti,

www.progonos.com/furuti/index.html
•  Azimuthal orthographic "
projection
•  mentioned by Hipparchus "
200 B.C. but probably older
•  do not preserve angles and "
areas
Copyright © 2008 C.A.Furu:
Some History
•  Azimuthal stereographic projection

•  attributed to Hipparchus, "
190 -120 B.C.
•  name given by d’Aiguillon "
1613
•  conformal: preserves angles "
but does not preserve areas
•  maps circles to circles
Some History
•  Mercator’s cylindrical conformal projection

•  Flemish cartographer, 1512 -1594
•  used navigation from "
the 16th century until present
•  any straight line between two "
points is a loxodrome (line of "
constant course on the sphere)
•  Mercator loxodrome bears "
the same angle from all "
meridians.
Some History
•  Lambert’s azimuthal equal-area projection

•  Johann H. Lambert 1772
•  preserves areas
•  strong distortion in the "
boundary of the worldwide "
map
Differential Geometry
•  Surface S ⊂ R³
•  Assumptions:
–  Regular:
•  Diff. as many times as necessary"
•  are linearly independent
–  Note:
•  tangent"
•  normal
•  First fundamental form or metric tensor

gαβ = xα·xβ, α,β = 1,2"
ds2 = gαβ duα duβ quadratic form

⎛ g11 g12 ⎞ ⎛ E F ⎞
(g) = (I f ) = ⎜ = ⎜
⎝ g21 g22 ⎠ ⎝ F G ⎟⎠
⎟
det(gαβ ) = g > 0
€
•  Differentiable Manifold
–  Topological manifold Χ
•  Locally homeomorphic to euclidean space
–  Vα ⊂ Χ, Vα open
–  chart pair (Vα , Φα), Φα : Vα → R3
–  Atlas: set {(Vα , Φα)} which covers Χ with transition maps
–  if Φαβ (Rn→Rn) is Ck for all transition maps then the atlas {(Vα ,
Φα)} is Ck. In this case we say that the pair {Χ, {(Vα , Φα)} is
Ck differentiable manifold
φ φ’
u2 u’2
u1 u’1
Parametrization
•  Notation:
–  S surface, (u1,u2) coordinates
–  S* second surface
–  f map, f: S→S*
–  A parametrization of S* is given by φ* = f◦φ
–  A point p in S* has the same coordinates as in S.
S f
φ S*
u2
φ*
u1
Isometric Mapping
•  Definition
f: S→S* is an isometric or length-preserving map if the length of
any arc on S* is the same as its pre-image on S"
We call f an isometry.
•  Theorem
–  A map f: S→S* is an isometry iff the coefficient of the first
fundamental form are the same, i.e. I = I*"
The surface S and S* are called isometric.
Conformal Mapping
•  Definition
f: S→S* is a conformal or angle-preserving map if the angle at the
intersection of two curves on S* is the same as the angle of
intersection of the corresponding curves on S.
•  Theorem
–  f: S→S* is conformal iff the first fundamental form are
proportional, i.e. I=η(u1,u2)I* ; η≠0 scalar
Equiareal Mapping
•  Definition
f: S→S* is an equiareal map if every set on S is mapped to a set
on S* with the same area
•  Theorem
–  f: S→S* is a equiareal map iff g=g*
•  Theorem
–  Every isometric mapping is conformal and equiareal
–  Every conformal and equiareal mapping is isometric
•  Note:
–  Jf: Jacobian of f ⇒ If =JT⋅ J (2x2 Matrix)
–  Singular values of J (3x2 Matrix) are the square roots of the
eigenvalues of g"
Singular values of Jf: σi, Eigenvalues of g: λi ⇒ σi2 = λi
Then
f is isometric "
f is conformal"
f is equiareal
•  Strategy for computing a surface parametrization

–  Ideal case: isometric mapping, but not possible in general.
Therefore, attempt one of the following mappings:
1.  Conformal: no distortion in angles
2.  Equiareal: no distortion in areas
3.  Minimize some combination of both
Conformal Map
•  Conformal map
–  complex transformation w=f(z) w,z ∈ C that preserves angles
–  f is analytic
–  z=x+iy; w=u+iv
–  It follows
Δu=0; Δv=0;
i.e. u(x,y) and v(x,y) are harmonic"
Conformal Map
•  Minimal surfaces: Plateau’s Problem

ϕ (x,y) displacements on domain Ω
•  Potential energy
•  Minimize surface area with boundary conditions ϕ=ϕ0 on

δΩ. The Euler-Lagrange equations "
ϕxx(1+ϕy2)+ϕyy(1+ϕx2)-2ϕxϕyϕxy=0 (nonlinear!)
•  Linearized problem: minimize Dirichlet’s energy"
⇒Δϕ=0 (∇⋅∇ϕ=0) in Ω!
Conformal Map
•  Result
–  harmonic map can be viewed as minimizing the Dirichlet’s
energy over the surface S.
•  Note:
–  In this case the domain is planar, i.e. Ω ⊂ R2
–  For S ⊂ R3 use the generalized Laplace equation: use operators
defined on S:"
Δs=divs⋅grads
•  Result
–  Isometric ⇒ conformal ⇒ harmonic
•  Remark:
–  Not every harmonic map is conformal.
Harmonic Map
•  Harmonic maps: discretization

–  ST piecewise linear surface
–  T={ti} triangulation of ST
•  Parametrization problem:
–  Given ST
–  Find polygonal domain S*⊂ R2
–  Piecewise linear map f: ST→S*
–  f is uniquely determined by the values of f at the vertices in T
Harmonic Map
1.  Set boundary mapping
vi
f(vi)
2.  Compute piecewise linear f: ST→S* which minimizes"

Harmonic Map
•  Note:
–  Quadratic minimization problem
–  For a triangle t=[v1v2v3]
Harmonic Map
•  Lest squares minimization:

–  The normal equations are:
•  Let V be the set of all vertices and VI the set of all interior vertices of
T.
•  Let Ni be the set of the indices of the neighbors of vi ∈ VI
vj
vi
Harmonic Map
•  Remark:
–  The matrix is symmetric and positive definite
–  The bandwidth of the matrix is given by the max. valence of
vi∈VI
–  at the boundary for vi∈VI
boundary edges
Harmonic Map
•  Minimize the Dirichlet energy functional:

–  Notation fi=f(vi).
E D → min ⇒ solve ∇E D = 0,
where the gradient is taken with respect to f i ,v i ∈VI
Harmonic Map
•  The linear system:
Harmonic Map
•  The system of equations

–  For v1,v3 consider the triangles {v1,v3,v2} and {v1,v4,v3}.
v3
θ12 α14
v2
θ13 α13 v4
β15
v1 β14
v7 v5
v6
Harmonic Map
•  Remark:
–  Matrix is symmetric and positive definite, therefore the system is
solvable and solution is unique
–  Matrix is sparse, bandwidth = max. valence in T
–  There are not one but two entries for each vi

•  One for the x-coordinate
•  One for the y-coordinate
Harmonic Map
•  Remark:
–  Harmonic map
•  If S* is convex ⇒ f is one-to-one
–  Discrete harmonic map
•  S* is convex and the weights wij are positive ⇒ f is one-to-one
•  orientation of triangles is preserved t=[v1,v2,v3] → f(t)=[f(v1) f(v2) f(v3)]
–  This can be seen as follows:
Convex Combination
•  Convex combination
–  Set of points {pi} i=1,…,N.
–  Convex combination
–  If p is a convex combination ⇒ p is in the convex hull of {pi}.
vi
λij>0 ∀ij
Convex Combination
•  The discrete harmonic map

–  λij>0 ⇔ wij>0
–  wij ⇒ λij>0 ⇒ fi is a convex combination of the fj
Therefore fi is in the convex hull of fj ⇒ the orientation of the
triangles in S does not change in S* and the map is one-to-one,
i.e. there is no flip-over
flip-over, weight < 0
Convex Combination
•  The weights are negative if:
quadrilateral ⇒ opposite angles sum < Π
•  General discrete formulation

–  The one dimensional case
p1 p2
p0 p3 p4
p5
x0 x1 x2 x3 x4 x5
–  At the boundary f(p0) = x0, f(p5) = x5.
•  Energy functional, linear minimization problem
∂F
= 0 ⇒ x k ∑ w kj − ∑w kj xj =0 ⇒ xk ∑w kj − ∑w kj xj = ∑w kj xj
∂x k j∈N (k ) j∈N (k ) j∈N ( j ) j∈N (k ) j∈N (k )
j∉B j∈B
€
•  The linear system
⎧ ∑ w ik , i= j
⎪ k∈N (i)
⎪
Aij = ⎨ −w ij , j ∈ N(i) bi = ∑w ij xj
⎪ 0 , otherwise
j∈N (i)
j∈B
⎪⎩
⇒ A⋅x =b
•  Procedure
–  Step 1: Parametrization of the boundary: Compute a
parametrization for the boundary points
–  Step 2: Set the weights wij (use some heuristic model)
–  Step 3: Solve linear system for the inner points!
•  Analysis
p1 p2 f
p0 p3 x0 x1 x2 x3
x 0 = f ( p0 ) ⎫
⎬ boundary, fix
x 3 = f ( p3 ) ⎭
€
•  The system of equations
1
Example: choose w ij = p (the spring model)
pi − p j
it follows ⎫
p ⎪ p = 0 uniform
x1 − x 0 ⎛ p1 − p0 ⎞ ⎪
⇒ = ⎜ ⎟ ⎬ p = 1 chordal
x 2 − x1 ⎝ p2 − p1 ⎠ ⎪ 1
⎪ p= centripedal
⎭ 2
€
•  Physical motivation
–  p → different models for the spring constant

1.  p=0 all springs are equal ⇒ uniform distribution of the xi
2.  p=1 different spring constant (cut an ∞ spring, spring constant
proportional to length)
•  The general two dimensional case

•  Step 1: Parametrization of the boundary
–  Asumption: the boundary is a closed closed polygon
–  Map the boundary using e.g. the spring model
–  Set the weight, choose p=0,1 or ½ (uniform, chordal,
centripetal)
–  Problem: Form/geometry of boundary curve
–  The boundary should be mapped to a convex polygon!
•  Choosing the geometry of the boundary
i.  Circle convex
•  Geometry
ii.  n-polygon
iii.  Choose best fitting plane (least squares)

project (orthogonally) boundary vertices
Überfaltung
•  The inner vertices

–  Requirements for a good map
i.  Identity property:
–  Preserves topology
–  For planar meshes, the resulting map in the identity
ii.  Regularity with respect to convolutions (Überfaltung) (one-to-one!)
•  Step 2: Set the weights wij
a)  The spring model

•  wij= || pi – pj ||-p , with p=0 (uniform), p=1 (chordal) or p=1/2 (centripetal)
•  p=0 and p=1/2 do not satisfy (i), but satisfy (ii)
b)  Harmonic parametrization

•  Solution of Laplace (elliptic) equation
ΔSu=0; ΔSv=0
•  Weak formulation
b)  Harmonic parametrization cont.

•  Weak formulation
–  min(ED);
–  Use Dirichlet boundary conditions

–  wij = cotαij + cotβij
vj
vi
•  One-to-one only if
αij+βij < ∏ (wij > 0) ⇒ it satisfy (i) but not (ii)!
c)  Shape preserving

•  Remark: convex combination → regular triangulation
•  The method:
Step 1: Flattening
Step 2: Compile weights
Step 3: Solve linear system
c)  Shape preserving

•  Flattening by exponential mp: consider P and corresponding triangle
fan
•  Compute mapping of P and corresponding triangle fan to a plane
P
y
q3
q4
Q3
Q4
p
σ1 q2
Q2
q5
Q5 q1
q6
Q1 x
Q6
c)  Shape preserving: map of triangle fan
⎛ 0 ⎞
P → p = ⎜ ⎟
⎝ 0 ⎠
⎛ 1 ⎞
Q1 → q1 = Q1 − P ⎜ ⎟
⎝ 0 ⎠
⎛ cosσ i ⎞
Qi → qi = Qi − P ⎜ ⎟ i = 2,K,N QN = Q1
⎝ sin σ i ⎠
i
2Π
σ i = ρ∑ γ λ ; ρ = N ; γ i = ∠(Qi ,P,Qi+1 )
€ λ =2
∑γ i
i=2
€
c)  Shape preserving, cont.
Qi
γi Qi-1
qi
P σi q
p i
c)  Shape preserving: the weights

i.  For each qi find qj such that
p = ς iiqi + ς ij q j + ς ij +1q j +1, ς ii + ς ij + ς ij +1 = 1, ς ki = 0,k ≠ i, j,.......ς ii ≥ 0

ii.  Define
€
iii.  Obtain
•  Thus p is a convex combination of qi.

–  Remark: wij ≠ wji, i.e. the system matrix of equation is not
symmetric
•  Shape preserving, example

–  Step 1: flattening the 1-neighborhood of vi (using the
exponential map)
vi v`j4 v`j3
vì
v`j1 v`j2
•  Shape preserving, example

–  Step 2: computing the barycentric coords.
v`j4 v`j3
vì vì vì vì
v`j1 v`j2
v'i = τ12v' j1 +τ 22v' j 2 +τ 42v' j 4
•  shape preserving, example cont.

–  use the average of the barycentric coords as weights
v`j4 v`j3
vì
v`j1 v`j2
–  Result: no deformations, no overlaps!

–  Shape preserving satisfy requirements i) and ii) for a good map!
•  Closed Surfaces
1)  Surfaces with genus 0, i.e. sphere
i.  Find map to the unit sphere
ii.  A harmonic map is conformal, Gu. And Yan, 2002
iii.  Many methods are nonlinear
2)  Surfaces with arbitrary genus
i.  Segment surface into open disk like meshes
ii.  Use network for open surfaces
iii.  Problem: smooth transition across patch boundaries
MIPS
•  Most Isometric ParametrizationS

–  Fact: except for developable surfaces, such as planes or
cylinders, any parametrization will deform the shape of the
triangles
–  Problem statement: find a way to measure this deformation
MIPS
•  Statement:
–  the map between two triangles is linear: fj: Tj → tj.
–  call the map fj atomic linear map.
•  Idea
–  find a functional that measures the distortion (or deformation) of
the atomic linear map
–  minimize a functional over all these atomic maps ∑ E(fj).
R3 R2
fj
MIPS
•  The deformation functional should be invariant under

–  translation
–  orthogonal transformations, e.g. rotations
–  uniform scaling
•  The functional should
–  penalize triangle collaps
MIPS
•  The functional
–  consider atomic linear map
g:R2 → R2 , x a Ax + b
ignore in the following the translation part b.
–  Singular value decomposition
€
T ⎛ σ1 0 ⎞
U AV = Σ = ⎜ ⎟
⎝ 0 σ 2 ⎠
–  2-norm condition
σ
κ 2 (A) = A 2 A −1 2 = 1
σ2
€ •  this number gives information on deformation and collaps
•  A value of 1 corresponds to an isometry
€
MIPS
•  Problem
–  the computation of the two norm condition number is difficult
•  Solution
–  use the Frobenius norm condition instead.
−1 trace(AT A)
κ F (A) = A F
A =
F det(A)
–  The global functional takes the form
€ κ = ∑κ F ( f j )
j
Flächenmodellierung €
MIPS
•  The global deformation functional is non linear

–  solution through an iterative method, e.g. Gauß-Seidel like
iteration
–  the parametrization of the boundary is determined during the
iteration and must not be specified before.
–  needs an efficient technique to compute the Frobenious
condition number for each atomic linear map.
•  Final remarks
–  linear methods, e.g. the spring model, are easy to implement
and fast
–  the harmonic energy can produce overlaps, e.g. if some of the
weights are negative
–  non linear methods, e.g. MIPS or more realistic spring models,
produce better results. Implementation is difficult and require
much more computation time.
–  Most methods require to specify first the parametrization of the
boundary, except MIPS

FM 04 Parametrization

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Surface Parametrization

• Mesh completion, surface reconstruction

Mesh completion, Kraevoy and Sheffer 2005

Siggraph Course Notes 2007: Mesh Parameterization: Theory and Practice

segmentation and texture atlases for Isocharts, Zhou et al. 2004

• Notes from Carlos A. Furuti,

Copyright © 2008 C.A.Furu:

• Azimuthal stereographic projection

Copyright © 2008 C.A.Furu:

• Mercator’s cylindrical conformal projection

• Lambert’s azimuthal equal-area projection

Copyright © 2008 C.A.Furu:

• are linearly independent

• First fundamental form or metric tensor

ds2 = gαβ duα duβ quadratic form

• Strategy for computing a surface parametrization

• Minimal surfaces: Plateau’s Problem

• Minimize surface area with boundary conditions ϕ=ϕ0 on

• Harmonic maps: discretization

1. Set boundary mapping

2. Compute piecewise linear f: ST→S* which minimizes"

• Lest squares minimization:

• Minimize the Dirichlet energy functional:

• The linear system:

• The system of equations

– Matrix is sparse, bandwidth = max. valence in T

– There are not one but two entries for each vi

– If p is a convex combination ⇒ p is in the convex hull of {pi}.

• The discrete harmonic map

flip-over, weight < 0

• The weights are negative if:

quadrilateral ⇒ opposite angles sum < Π

• General discrete formulation

– At the boundary f(p0) = x0, f(p5) = x5.

• Energy functional, linear minimization problem

• The linear system

• The system of equations

– p → different models for the spring constant

• The general two dimensional case

iii. Choose best fitting plane (least squares)

• The inner vertices

ii. Regularity with respect to convolutions (Überfaltung) (one-to-one!)

• Step 2: Set the weights wij

a) The spring model

b) Harmonic parametrization

b) Harmonic parametrization cont.

– Use Dirichlet boundary conditions

c) Shape preserving

Step 2: Compile weights

Step 3: Solve linear system

c) Shape preserving

c) Shape preserving: map of triangle fan

c) Shape preserving, cont.

c) Shape preserving: the weights

p = ς iiqi + ς ij q j + ς ij +1q j +1, ς ii + ς ij + ς ij +1 = 1, ς ki = 0,k ≠ i, j,.......ς ii ≥ 0

• Thus p is a convex combination of qi.

• Shape preserving, example

• Shape preserving, example

vì vì vì vì

v'i = τ12v' j1 +τ 22v' j 2 +τ 42v' j 4

• shape preserving, example cont.

– Result: no deformations, no overlaps!

• Most Isometric ParametrizationS

•  Mesh completion, surface reconstruction

•  Notes from Carlos A. Furuti,

•  Azimuthal stereographic projection

•  Mercator’s cylindrical conformal projection

•  Lambert’s azimuthal equal-area projection

•  are linearly independent

•  First fundamental form or metric tensor

•  Strategy for computing a surface parametrization

•  Minimal surfaces: Plateau’s Problem

•  Minimize surface area with boundary conditions ϕ=ϕ0 on

•  Harmonic maps: discretization

1.  Set boundary mapping

2.  Compute piecewise linear f: ST→S* which minimizes"

•  Lest squares minimization:

•  Minimize the Dirichlet energy functional:

•  The linear system:

•  The system of equations

–  Matrix is sparse, bandwidth = max. valence in T

–  There are not one but two entries for each vi

–  If p is a convex combination ⇒ p is in the convex hull of {pi}.

•  The discrete harmonic map

•  The weights are negative if:

•  General discrete formulation

–  At the boundary f(p0) = x0, f(p5) = x5.

•  Energy functional, linear minimization problem

•  The linear system

•  The system of equations

–  p → different models for the spring constant

•  The general two dimensional case

iii.  Choose best fitting plane (least squares)

•  The inner vertices

ii.  Regularity with respect to convolutions (Überfaltung) (one-to-one!)

•  Step 2: Set the weights wij

a)  The spring model

b)  Harmonic parametrization

b)  Harmonic parametrization cont.

–  Use Dirichlet boundary conditions

c)  Shape preserving

c)  Shape preserving

c)  Shape preserving: map of triangle fan

c)  Shape preserving, cont.

c)  Shape preserving: the weights

•  Thus p is a convex combination of qi.

•  Shape preserving, example

•  Shape preserving, example

•  shape preserving, example cont.

–  Result: no deformations, no overlaps!

•  Most Isometric ParametrizationS

•  The deformation functional should be invariant under

–  The global functional takes the form

•  The global deformation functional is non linear