2d/3d shape manipulation, 3d printing
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2D/3D Shape Manipulation, 3D Printing. Discrete Differential Geometry Planar Curves. Slides from Olga Sorkine , Eitan Grinspun. Differential Geometry – Motivation. Describe and analyze geometric characteristics of shapes e .g. how smooth?. Differential Geometry – Motivation. - PowerPoint PPT PresentationTRANSCRIPT
Discrete Differential GeometryPlanar Curves
2D/3D Shape Manipulation,3D Printing
March 13, 2013
Slides from Olga Sorkine, Eitan Grinspun
Olga Sorkine-Hornung #
Differential Geometry – Motivation
● Describe and analyze geometric characteristics of shapes e.g. how smooth?
March 13, 2013 2
Olga Sorkine-Hornung #
Differential Geometry – Motivation
● Describe and analyze geometric characteristics of shapes e.g. how smooth? how shapes deform
March 13, 2013 3
Olga Sorkine-Hornung #
Differential Geometry Basics
● Geometry of manifolds● Things that can be discovered by
local observation: point + neighborhood
March 13, 2013 4
Olga Sorkine-Hornung #
Differential Geometry Basics
● Geometry of manifolds● Things that can be discovered by
local observation: point + neighborhood
manifold point
March 13, 2013 5
Olga Sorkine-Hornung #
Differential Geometry Basics
● Geometry of manifolds● Things that can be discovered by
local observation: point + neighborhood
manifold point
March 13, 2013 6
Olga Sorkine-Hornung #
Differential Geometry Basics
● Geometry of manifolds● Things that can be discovered by
local observation: point + neighborhood
manifold pointcontinuous 1-1 mapping
March 13, 2013 7
Olga Sorkine-Hornung #
Differential Geometry Basics
● Geometry of manifolds● Things that can be discovered by
local observation: point + neighborhood
manifold pointcontinuous 1-1 mapping
non-manifold point
March 13, 2013 8
Olga Sorkine-Hornung #
Differential Geometry Basics
● Geometry of manifolds● Things that can be discovered by
local observation: point + neighborhood
manifold pointcontinuous 1-1 mapping
non-manifold pointx
March 13, 2013 9
Olga Sorkine-Hornung #
Differential Geometry Basics
● Geometry of manifolds● Things that can be discovered by
local observation: point + neighborhood
March 13, 2013 10
Olga Sorkine-Hornung #
Differential Geometry Basics
● Geometry of manifolds● Things that can be discovered by
local observation: point + neighborhood
continuous 1-1 mapping
March 13, 2013 11
Olga Sorkine-Hornung #
Differential Geometry Basics
● Geometry of manifolds● Things that can be discovered by
local observation: point + neighborhood
continuous 1-1 mapping
u
v
If a sufficiently smooth mapping can be constructed, we can look at its first and second derivativesTangents, normals, curvaturesDistances, curve angles, topology
March 13, 2013 12
Olga Sorkine-Hornung #
Planar Curves
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Olga Sorkine-Hornung #
Curves
● 2D:
● must be continuous
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Olga Sorkine-Hornung #
● Equal pace of the parameter along the curve
● len (p(t1), p(t2)) = |t1 – t2|
Arc Length Parameterization
March 13, 2013 15
Olga Sorkine-Hornung #
Secant
• A line through two points on the curve.
March 13, 2013 16
Olga Sorkine-Hornung #
Secant
● A line through two points on the curve.
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Olga Sorkine-Hornung #
Tangent
March 13, 2013 18
● The limiting secant as the two points come together.
Olga Sorkine-Hornung #
Secant and Tangent – Parametric Form
● Secant: p(t) – p(s)● Tangent: p(t) = (x(t), y(t), …)T
● If t is arc-length:||p(t)|| = 1
March 13, 2013 19
Olga Sorkine-Hornung #
Tangent, normal, radius of curvature
p
r
Osculating circle“best fitting circle”
March 13, 2013 20
Olga Sorkine-Hornung #
Circle of Curvature
● Consider the circle passing through three points on the curve…
March 13, 2013 21
Olga Sorkine-Hornung #
Circle of Curvature
• …the limiting circle as three points come together.
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Olga Sorkine-Hornung #
Radius of Curvature, r
March 13, 2013 23
Olga Sorkine-Hornung #
Radius of Curvature, r = 1/
Curvature
March 13, 2013 24
Olga Sorkine-Hornung #
Signed Curvature
+
–
March 13, 2013 25
• Clockwise vs counterclockwisetraversal along curve.
#
Gauss map
● Point on curve maps to point on unit circle.
Olga Sorkine-Hornung #
Curvature = change in normal direction
curve Gauss map curve Gauss map
● Absolute curvature (assuming arc length t)
● Parameter-free view: via the Gauss map
March 13, 2013 27
Olga Sorkine-Hornung #
Curvature Normal
• Assume t is arc-length parameter)(ˆ)( tt np
[Kobbelt and Schröder]
p(t)
)(ˆ tn
p(t)
March 13, 2013 28
Olga Sorkine-Hornung #
Curvature Normal – Examples
March 13, 2013 29
Olga Sorkine-Hornung #
Turning Number, k
• Number of orbits in Gaussian image.
March 13, 2013 30
Olga Sorkine-Hornung #
• For a closed curve, the integral of curvature is an integer multiple of 2.
• Question: How to find curvatureof circle using this formula?
Turning Number Theorem
+2
–2
+4
0
March 13, 2013 31
Olga Sorkine-Hornung #
Discrete Planar Curves
March 13, 2013 32
Olga Sorkine-Hornung #
Discrete Planar Curves
● Piecewise linear curves● Not smooth at vertices● Can’t take derivatives
● Generalize notions fromthe smooth world forthe discrete case!
March 13, 2013 33
Olga Sorkine-Hornung #
Tangents, Normals
● For any point on the edge, the tangent is simply the unit vector along the edge and the normal is the perpendicular vector
March 13, 2013 34
Olga Sorkine-Hornung #
Tangents, Normals
● For vertices, we have many options
March 13, 2013 35
Olga Sorkine-Hornung #
● Can choose to average the adjacent edge normals
Tangents, Normals
March 13, 2013 36
Olga Sorkine-Hornung #
Tangents, Normals
● Weight by edge lengths
March 13, 2013 37
Olga Sorkine-Hornung #
Inscribed Polygon, p
• Connection between discrete and smooth
• Finite number of verticeseach lying on the curve,connected by straight edges.
March 13, 2013 38
Olga Sorkine-Hornung #
p1
p2
p3
p4
The Length of a Discrete Curve
• Sum of edge lengths
March 13, 2013 39
Olga Sorkine-Hornung #
The Length of a Continuous Curve
• Length of longest of all inscribed polygons.
March 13, 2013 40sup = “supremum”. Equivalent to maximum if maximum exists.
Olga Sorkine-Hornung #
• …or take limit over a refinement sequence
h = max edge length
The Length of a Continuous Curve
March 13, 2013 41
Olga Sorkine-Hornung #
Curvature of a Discrete Curve
● Curvature is the change in normal direction as we travel along the curve
no change along each edge – curvature is zero along edges
March 13, 2013 42
Olga Sorkine-Hornung #
Curvature of a Discrete Curve
● Curvature is the change in normal direction as we travel along the curve
normal changes at vertices – record the turning angle!
March 13, 2013 43
Olga Sorkine-Hornung #
Curvature of a Discrete Curve
● Curvature is the change in normal direction as we travel along the curve
normal changes at vertices – record the turning angle!
March 13, 2013 44
Olga Sorkine-Hornung #
● Curvature is the change in normal direction as we travel along the curve
same as the turning anglebetween the edges
Curvature of a Discrete Curve
March 13, 2013 45
Olga Sorkine-Hornung #
● Zero along the edges● Turning angle at the vertices
= the change in normal direction
1, 2 > 0, 3 < 0
1 2
3
Curvature of a Discrete Curve
March 13, 2013 46
Olga Sorkine-Hornung #
Total Signed Curvature
• Sum of turning angles 1 2
3
March 13, 2013 47
#
Discrete Gauss Map
● Edges map to points, vertices map to arcs.
#
Discrete Gauss Map
● Turning number well-defined for discrete curves.
Olga Sorkine-Hornung #
Discrete Turning Number Theorem
● For a closed curve, the total signed curvature is an integer multiple of 2. proof: sum of exterior angles
March 13, 2013 50
Olga Sorkine-Hornung #
Discrete Curvature – Integrated Quantity!
● Integrated over a local area associated with a vertex
March 13, 2013
1 2
51
Olga Sorkine-Hornung #
Discrete Curvature – Integrated Quantity!
● Integrated over a local area associated with a vertex
March 13, 2013
1 2A1
52
Olga Sorkine-Hornung #
Discrete Curvature – Integrated Quantity!
● Integrated over a local area associated with a vertex
March 13, 2013
1 2A1
A2
53
Olga Sorkine-Hornung #
Discrete Curvature – Integrated Quantity!
● Integrated over a local area associated with a vertex
March 13, 2013
1 2A1
A2
The vertex areas Ai form a covering of the curve.They are pairwise disjoint (except endpoints).
54
Olga Sorkine-Hornung #
Structure Preservation
• Arbitrary discrete curve– total signed curvature obeys
discrete turning number theorem– even coarse mesh (curve)– which continuous theorems to preserve?
• that depends on the application…
discrete analogueof continuous theorem
March 13, 2013 55
Olga Sorkine-Hornung #
Convergence
• Consider refinement sequence– length of inscribed polygon approaches
length of smooth curve – in general, discrete measure approaches
continuous analogue– which refinement sequence?
• depends on discrete operator• pathological sequences may exist
– in what sense does the operator converge? (point-wise, L2; linear, quadratic)
March 13, 2013 56
Olga Sorkine-Hornung #
Recap
ConvergenceStructure-preservation
In the limit of a refinement sequence, discrete measures of length and curvature agree with continuous measures.
For an arbitrary (even coarse) discrete curve, the discrete measure of curvature obeys the discrete turning number theorem.
March 13, 2013 57
Thank You
March 13, 2013