Spring 2014

CSCI 599: Digital Geometry Processing

1.2 Surface Representation !

& Data Structures

Hao Li
http://cs599.hao-li.com
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 Administrative

• No class next Tuesday, due to Siggraph deadline!

• Introduction to first programming exercise next

Thursday

Siggraph Deadline 2013@ILM, Ewww!

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After Siggraph Deadline @ILM

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 Last Time

Geometry Processing

Reconstruction

Rendering

Capture Analysis

Reproduction

Manipulation

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 Geometric Representations

point based quad mesh triangle mesh

implicit surfaces / particles volumetric tetrahedrons

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 Geometric Representations

point based quad mesh triangle mesh

Surface Representations

implicit surfaces / particles volumetric tetrahedrons

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High Resolution

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Large scenes

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 Outline

• Parametric Approximations

• Polygonal Meshes

• Data Structures

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 Parametric Representation

Surface is the range of a function

f: IR ⇥ IR ,
2 3
S = f( )

2D example: A Circle

f : [0, 2 ] IR 2

⇥
r cos(t) r
f (t) =
r sin(t)

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 Parametric Representation

Surface is the range of a function

f: IR ⇥ IR ,
2 3
S = f( )

2D example: Island coast line

f : [0, 2 ] IR 2

⇥
r cos(t)
?
f (t) =
r sin(t)
?

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 Piecewise Approximation

Surface is the range of a function

f: IR ⇥ IR ,
2 3
S = f( )

2D example: Island coast line

f : [0, 2 ] IR 2

⇥
r cos(t)
?
f (t) =
r sin(t)
?

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 Polynomial Approximation
Polynomials are computable functions
p p
f (t) = ci ti = c̃i i (t)
i=0 i=0

Taylor expansion up to degree p

⇤p
1 (i) ⇥
g(h) = g (0) h + O h
i p+1

i=0
i!

Error for approximation g by polynomial f

f (ti ) = g(ti ) , 0 ⇥ t0 < · · · < tp ⇥ h

1
p
⇤ ⇥
|f (t) g(t)| ⇥ max f (p+1) (t ti ) = O h(p+1)
(p + 1)! i=0

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 Polynomial Approximation

Approximation error is O(hp+1 )

Improve approximation quality by!

• increasing p… higher order polynomials

• decreasing h … shorter / more segments

Issues!
(p+1)
• smoothness of the target data ( max f (t) )
t
• smothness condition between segments

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 Polygonal Meshes

Polygonal meshes are a good compromise!

2
• Piecewise linear approximation → error is O(h )

3 6 12 24

25% 6.5% 1.7% 0.4%

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 Polygonal Meshes

Polygonal meshes are a good compromise!

2
• Piecewise linear approximation → error is O(h )

• Error inversely proportional to #faces

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 Polygonal Meshes

Polygonal meshes are a good compromise!

2
• Piecewise linear approximation → error is O(h )

• Error inversely proportional to #faces

• Arbitrary topology surfaces

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 Polygonal Meshes

Polygonal meshes are a good compromise!

2
• Piecewise linear approximation → error is O(h )

• Error inversely proportional to #faces

• Arbitrary topology surfaces
• Piecewise smooth surfaces

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 Polygonal Meshes

Polygonal meshes are a good compromise!

2
• Piecewise linear approximation → error is O(h )

• Error inversely proportional to #faces

• Arbitrary topology surfaces
• Piecewise smooth surfaces
• Adaptive sampling

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 Polygonal Meshes

Polygonal meshes are a good compromise!

2
• Piecewise linear approximation → error is O(h )

• Error inversely proportional to #faces

• Arbitrary topology surfaces
• Piecewise smooth surfaces
• Adaptive sampling
• Efficient GPU-based rendering/processing

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 Outline

• Parametric Approximations

• Polygonal Meshes

• Data Structures

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 Graph Definitions

B
A
• Graph {V,E}
E
D F
C

I
H
G

J K

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 Graph Definitions

B
A
• Graph {V,E}
E
D F • Vertices V = {A,B,C,…,K}
C

I
H
G

J K

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 Graph Definitions

B
A
• Graph {V,E}
E
D F • Vertices V = {A,B,C,…,K}
C
• Edges E = {(AB),(AE),(CD),…}
I
H
G

J K

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 Graph Definitions

B
A
• Graph {V,E}
E
D F • Vertices V = {A,B,C,…,K}
C
• Edges E = {(AB),(AE),(CD),…}
I
H • Faces F = {(ABE),(EBF),(EFIH),…}
G

J K

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 Graph Definitions

B
A

E Vertex degree or valence:!

D F
C number of incident edges!
I
• deg(A) = 4
H • deg(E) = 5
G

J K

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 Connectivity

Connected:!
B
A Path of edges connecting
every two vertices
E
D F
C

I
H
G

J K

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 Connectivity

Connected:!
B Path of edges connecting
A
every two vertices
E !
D F
C Subgraph:!
I Graph {V’,E’} is a subgraph of graph
H
{V,E} if V’ is a subset of V and E’ is a
G
subset of E incident on V’.

J K

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 Connectivity

Connected:!
B Path of edges connecting
A
every two vertices
E !
D F
C Subgraph:!
I Graph {V’,E’} is a subgraph of graph
H
{V,E} if V’ is a subset of V and E’ is a
G
subset of E incident on V’.

J K

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 Connectivity

Connected:!
B Path of edges connecting
A
every two vertices
E !
D F
C Subgraph:!
I Graph {V’,E’} is a subgraph of graph
H
{V,E} if V’ is a subset of V and E’ is a
G
subset of E incident on V’.
!
J K
Connected Components:!
Maximally connected subgraph

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 Connectivity

Connected:!
B Path of edges connecting
A
every two vertices
E !
D F
C Subgraph:!
I Graph {V’,E’} is a subgraph of graph
H
{V,E} if V’ is a subset of V and E’ is a
G
subset of E incident on V’.
!
J K
Connected Components:!
Maximally connected subgraph

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 Graph Embedding

d
Embedding: Graph is embedded in , if R
d
each vertex is assigned a position in R .

2
Embedding in R Embedding in R 3
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 Graph Embedding

d
Embedding: Graph is embedded in , if R
d
each vertex is assigned a position in R .

3
Embedding in R
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 Planar Graph

Planar Graph !
Graph whose vertices and edges can be
2
embedded in R such that its edges do
not intersect

Straight Line !
Planar Graph Plane Graph
Plane Graph
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 Triangulation

Triangulation:!
B Straight line plane graph where every
A face is a triangle

E
D F Why?!
C
• simple homogenous data structure
I
H • efficient rendering
G
• simplifies algorithms
• by definition, triangle is planar
J K • any polygon can be triangulated

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 Mesh

• Mesh: straight-line graph

3
embedded in R

• Boundary edge: adjacent to

exactly 1 face

• Regular edge: adjacent to

exactly 2 faces

• Singular edge: adjacent to

more than 2 faces

• Closed mesh: mesh with no

boundary edges
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 Polygon

A geometric graph Q = (V, E)

with V = {p0 , p1 , . . . , pn 1 } in Rd , d 2
and E = {(p0 , p1 ) . . . (pn 2 , pn 1 )}
is called a polygon
!
!
!
!
A polygon is called
• flat, if all edges are on a plane
• closed, if p0 = pn 1

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While digital artists call it Wireframe, …

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 Polygonal Mesh

A set M of finite number of closed polygons Qi if:!

• Intersection of inner polygonal areas is empty
• Intersection of 2 polygons from M is either empty, a point p 2 P
or an edge e 2 E
• Every edge e 2 E belongs to at least one polygon
• The set of all edges which belong only to one polygon are
called edges of the polygonal mesh and are either empty or
form a single closed polygon

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Polygonal Mesh Notation

M = ({vi }, {e j }, { f k })

3
geometry vi R

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Polygonal Mesh Notation

M = ({vi }, {e j }, { f k })

3
geometry vi R
3
topology ei , f i R

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 Global Topology: Genus

• Genus: Maximal number of closed simple cutting

curves that do not disconnect the graph into multiple
components.
• Or half the maximal number of closed paths that do
no disconnect the mesh
• Informally, the number of holes or handles

Genus 0 Genus 1 Genus 2 Genus 3

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 Euler Poincaré Formula

• For a closed polygonal mesh of genus g , the relation

of the number V of vertices, E of edges, and F of faces
is given by Euler’s formula:!
!
!
V E + F = 2(1 g)
!
!
• The term 2(1 g) is called the Euler characteristic

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Euler Poincaré Formula

V E + F = 2(1 g)

4 6 + 4 = 2(1 0)

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Euler Poincaré Formula

V E + F = 2(1 g)

16 32 + 16 = 2(1 1)

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 Average Valence of Closed Triangle Mesh

Theorem: Average vertex degree in a closed manifold

triangle mesh is ~6

Proof: 3F = 2E by counting edges of faces!

!
by Euler’s formula: V+F-E = V+2E/3-E = 2-2g!
Thus E = 3(V-2+2g)!
!
So average degree = 2E/V = 6(V-2+2g) ~6 for large V

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 Euler Consequences

Triangle mesh statistics!

• F ⇡ 2V

• E ⇡ 3V

• Average valence = 6

Quad meshe statistics!

• F ⇡V
• E ⇡ 2V
• Average valence = 4

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 Euler Characteristic

Sphere Torus Moebius Strip Klein Bottle

=2 =0 =0 =0

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How many pentagons?

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 How many pentagons?

Any closed surface of genus 0 consisting only of

hexagons and pentagons and where every vertex
has valence 3 must have exactly 12 pentagons
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 Two-Manifold Surfaces

Local neighborhoods are disk-shaped!

!
f (D✏ [u, v]) = D [f (u, v)]
!

Guarantees meaningful neighbor enumeration!

• required by most algorithms
!

Non-manifold Examples:

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 Outline

• Parametric Approximations

• Polygonal Meshes

• Data Structures

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 Mesh Data Structures

• How to store geometry & connectivity?

• compact storage and file formats
• Efficient algorithms on meshes
• Time-critical operations
• All vertices/edges of a face
• All incident vertices/edges/faces of a vertex

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 Data Structures

What should be stored?!

• Geometry: 3D vertex coordinates
• Connectivity: Vertex adjacency
• Attributes:
• normals, color, texture coordinates, etc.
• Per Vertex, per face, per edge

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 Data Structures

What should it support?!

• Rendering
• Queries
• What are the vertices of face #3?
• Is vertex #6 adjacent to vertex #12?
• Which faces are adjacent to face #7?
• Modifications
• Remove/add a vertex/face
• Vertex split, edge collapse

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 Data Structures

Different Data Structures:!

• Time to construct (preprocessing)
• Time to answer a query
• Random access to vertices/edges/faces
• Fast mesh traversal
• Fast Neighborhood query
• Time to perform an operation
• split/merge
• Space complexity
• Redundancy

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 Data Structures

Different Data Structures:!

• Different topological data storage
• Most important ones are face and edge-based
(since they encode connectivity)
• Design decision ~ memory/speed trade-off

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 Face Set (STL)

Face:!
Triangles
• 3 vertex positions
x11 y11 z11 x12 y12 z12 x13 y13 z13

x21 y21 z21 x22 y22 z22 x23 y23 z23

... ... ...

xF1 yF1 zF1 xF2 yF2 zF2 xF3 yF3 zF3

9*4 = 36 B/f (single precision)!

72 B/v (Euler Poincaré)
!
No explicit connectivity

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 Shared Vertex (OBJ,OFF)

Indexed Face List:!

Vertices Triangles
• Vertex: position
x1 y1 z1 i11 i12 i13
• Face: Vertex Indices
... ...
xV yV zV ...

...

...

iF1 iF2 iF3

12 B/v + 12 B/f = 36B/v

!
No explicit adjacency info

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 Face-Based Connectivity

Vertex:!
• position
• 1 face
!

Face:!
• 3 vertices
• 3 face neighbors

64 B/v!
!
No edges: Special case
handling for arbitrary
polygons
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 Edges always have the same !
topological structure

Efficient handling of polygons with!

variable valence

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 (Winged) Edge-Based Connectivity

Vertex:!
• position
• 1 edge
!

Edge:!
• 2 vertices
• 2 faces
• 4 edges
! 120 B/v
!
Face:! Edges have no orientation:
• 1 edges special case handling for
neighbors
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 Halfedge-Based Connectivity

Vertex:!
• position
• 1 halfedge
!

Edge:!
• 1 vertex
• 1 face
• 1, 2, or 3 halfedges
96 to 144 B/v!
! !
Edges have orientation: No-
Face:!
runtime overhead due to
• 1 halfedge arbitrary faces

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Arbitrary Faces during Modeling

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 One-Ring Traversal

1. Start at vertex

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 One-Ring Traversal

1. Start at vertex
2. Outgoing halfedge

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 One-Ring Traversal

1. Start at vertex
2. Outgoing halfedge
3. Opposite halfedge

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 One-Ring Traversal

1. Start at vertex
2. Outgoing halfedge
3. Opposite halfedge
4. Next halfedge

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 One-Ring Traversal

1. Start at vertex
2. Outgoing halfedge
3. Opposite halfedge
4. Next halfedge
5. Opposite

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 One-Ring Traversal

1. Start at vertex
2. Outgoing halfedge
3. Opposite halfedge
4. Next halfedge
5. Opposite
6. Next
7. …

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 Halfedge datastructure Libraries

CGAL!
• www.cgal.org
• Computational Geometry
• Free for non-commercial use
!

OpenMesh!
• www.openmesh.org
• Mesh processing
• Free, LGPL license

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 Why Openmesh?

Flexible / Lightweight!
• Random access to vertices/edges/faces
• Arbitrary scalar types
• Arrays or lists as underlying kernels
!

Efficient in space and time!

• Dynamic memory management for array-based
meshes (not in CGAL)
• Extendable to specialized kernels for non-manifold
meshes (not in CGAL)
!

Easy to Use
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 Literature

• Textbook: Chapter
• http://www.openmesh.org
• Kettner, Using generic programming for designing a data structure
for polyhedral surfaces, Symp. on Comp. Geom., 1998
• Campagna et al., Directed Edges - A Scalable Representation for
Triangle Meshes, Journal of Graphics Tools 4(3), 1998
• Botsch et al., OpenMesh - A generic and efficient polygon mesh data
structure, OpenSG Symp. 2002

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 TODO

Learn the terms

and notations

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 Next Time

• Explicit & Implicit Surfaces

• Exercise 1: Getting Started with Mesh Processing

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http://cs599.hao-li.com

Thanks!

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