Lecture 16—Discrete Curvature I (Integral Viewpoint)

Just as curvature provides powerful ways to describe and analyze smooth surfaces, discrete curvatures provide a powerful way to encode and manipulate digital geometry—and is a fundamental component of many modern algorithms for surface processing. This first of two lectures on discrete curvature from the integral viewpoint, i.e., integrating smooth expressions for discrete curvatures in order to obtain curvature formulae suitable for discrete surfaces. In the next lecture, we will see a complementary variational viewpoint, where discrete curvatures arise by instead taking derivatives of discrete geometry. Amazingly enough, these two perspectives will fit together naturally into a unified picture that connects essentially all of the standard discrete curvatures for triangle meshes.

Assignment 3 [Coding]: The Laplacian (Due 4/13)

For the coding portion of this assignment, you will build the so-called “cotan-Laplace” matrix and start to see how it can be used for a broad range of surface processing tasks, including the Poisson equation and two kinds of curvature flow.


Getting Started

Please implement the following routines in

  1. core/geometry.js:
    • laplaceMatrix
    • massMatrix
  2. projects/poisson-problem/scalar-poisson-problem.js:
    • constructor
    • solve
  3. projects/geometric-flow/mean-curvature-flow.js:
    • buildFlowOperator
    • integrate
  4. projects/geometric-flow/modified-mean-curvature-flow.js:
    • constructor
    • buildFlowOperator


Notes

  • Sections 6.4-6 of the course notes describe how to build the cotan-Laplace matrix and mass matrices, and outline how they can be used to solve equations on a mesh. In these applications you will be required to setup and solve a linear system of equations $Ax=b$ where $A$ is the Laplace matrix, or some slight modification thereof. Highly efficient numerical methods such as Cholesky Factorization can be used to solve such systems, but require A to be symmetric positive definite. Notice that the cotan-Laplace matrix described in the notes is negative semi-definite. To make it compatible for use with numerical methods like the Cholesky Factorization, your implementation of laplaceMatrix should instead produce a positive definite matrix, i.e., it should represent the expression
    $$(\Delta u)_i=\frac12 \sum_{ij}(\cot \alpha_{ij}+\cot \beta_{ij})(u_i–u_j).$$(Note that $u_i−u_j$ is reversed relative to the course notes.) To make this matrix strictly positive definite (rather than semidefinite), you should also add a small offset such as $10^{-8}$ to the diagonal of the matrix (which can be expressed in code as a floating point value 1e-8). This technique is known as Tikhonov regularization.
  • The mass matrix is a diagonal matrix containing the barycentric dual area of each vertex.
  • In the scalar Poisson problem, your goal is to discretize and solve the equation $\Delta \phi = \rho$ where $rho$ is a scalar density on vertices and $\Delta$ is the Laplace operator. Be careful about appropriately incorporating dual areas into the discretization of this equation (i.e., think about where and how the mass matrix should appear); also remember that the right-hand side cannot have a constant component (since then there is no solution).
  • In your implementation of the implicit mean curvature flow algorithm, you can encode the surface $f:M \to \mathbb R^3$ as a single DenseMatrix of size $|V| \times 3$, and solve with the same (scalar) cotan-Laplace matrix used for the previous part. When constructing the flow operator, you should follow section 6.6 of the notes. But be careful – when we discretize equations of the form $\Delta f = \rho$, we create systems of the form $A f = M \rho$. So you’ll need to add in the mass matrix somewhere. Also, recall that our discrete Laplace matrix is the negative of the actual Laplacian.
  • The modified mean curvature flow is nearly identical to standard mean curvature flow. The one and only difference is that you should not update the cotan-Laplace matrix each time step, i.e., you should always be using the cotans from the original input mesh. The mass matrix, however, must change on each iteration.


Submission Instructions

Please rename your geometry.js, scalar-poisson-problem.js, mean-curvature-flow.js and modified-mean-curvature-flow.js files to geometry.txt, scalar-poisson-problem.txt, mean-curvature-flow.txt and modified-mean-curvature-flow.txt (respectively) and put them in a single zip file called solution.zip. These files and your solution to the written exercises should be submitted together in a single email to Geometry.Collective@gmail.com with the subject line DDG20A3.

Assignment 3 [Written]: The Laplacian (Due 4/13)

These exercises will lead you through two different derivations for the cotan-Laplace operator. As we’ll discuss in class, this operator is basically the “Swiss army knife” of discrete differential geometry and digital geometry processing, opening the door to a huge number of interesting algorithms and applications. Note that this time the exercises all come from the course notes—you will need to read the accompanying notes in order to familiarize yourself with the necessary material (though actually we’ve covered much of this stuff in class already!)


 

Reading 6—The Laplace Operator (due April 7)

Your next reading covers one of the most fundamental objects in differential geometry, and one of the most useful objects in practical geometry processing: the Laplace-Beltrami operator \(\Delta\), which we’ll often refer to as just the “Laplacian”. This operator generalizes the familiar Laplace operator \(\Delta = \frac{\partial^2}{\partial x_1^2} + \cdots + \frac{\partial^2}{\partial x_n^2}\) from Euclidean \(\mathbb{R}^n\) to general curved manifolds. Like the ordinary Laplacian, at a very basic level Laplace-Beltrami provides information about the “curvature” of a function. It also shows up in an enormous number of physical and geometric equations, and for this reason there has been intense study of different ways to discretize the Laplacian (not only for simplicial meshes, but also point clouds and other discrete surface representations).

The reading will expose you to some of the key issues to think about when designing a discrete Laplacian. For this reading, you can choose either of the following two papers:

You should not worry about deeply understanding all of the mathematical details in these papers; the point is just to get a sense of the issues at stake, and how these considerations translate into practical definitions of discrete Laplace matrices. The first paper, by Wardetzky et al, considers a “No Free Lunch” theorem for discrete Laplacians that continues our story of “The Game” played in discrete differential geometry. The second paper, by Bobenko & Springborn considers the important perspective of intrinsic triangulations of polyhedral surfaces, and uses this perspective to develop a Laplace operator that is well-behaved even for very poor quality triangulations. You should simply summarize the high-level ideas in these papers, and any questions you might have.

The reading is due on Monday, April 7 at 10am Eastern time. Hand-in instructions are as usual described on the assignments page.

Lecture 15: Curvature of Surfaces

Much of the geometry we encounter in everyday life (such as curves and surfaces sitting in space) is well-described by it curvatures. For instance, the fundamental theorem for plane curves says that an arc-length parameterized plane curve is determined by its curvature function, up to rigid motions. Similar statements can be made about surfaces and their curvatures, which we explore in this lecture.

Lecture 14: Discrete Surfaces

Discrete Surfaces

We’ll follow up our lecture on smooth surfaces with a view of surfaces from the discrete point of view. Our goal will be to translate basic concepts (such as the differential, immersions, etc.) into a purely discrete language. Here we’ll also start to see the benefit of developing discrete differential forms: many of the statements we made about surfaces in the smooth setting can be translated into the discrete setting with minimal effort. As we move forward with discrete differential geometry, this “easy translation” will enable us to take advantage of deep insights from differential geometry to develop practical computational algorithms.

Running the course remotely

Hi all,

Hope you are all well and, to the extent possible, out of harm’s way. Just wanted to give an update on how the course will be run remotely through the rest of the semester. The good news is that most everything is already run digitally, so there’s not much that will need to change. A few notes:

  • Lectures.  We’ll be providing lectures via YouTube; lecture videos will be posted prior to the regularly scheduled class time.
  • Assignments. No change here: please follow the same procedure for handing in assignments; we will continue to provide feedback digitally.
  • Readings. Same story here: we will assign readings through the website, and collect responses via email.
  • Office hours. Office hours will be run via Zoom, at the currently scheduled dates/times.  We’ll send out links to the Zoom sessions for the two TAs over email.  Also, since I won’t be able to answer your questions during lecture, I’ll be adding office ours (date and time TBD).  Hopefully everyone will be able to attend at least one of the office hour sessions, but we’ll adjust as needed (e.g., if folks are having trouble with shifted time zones).

Finally, the due date for the next assignment has been shifted by a few days, since I know relocation will be challenging for a lot of people.  In particular, Assignment 2 (both written and coding) will now be due on Sunday, 3/22.

Thanks for your patience, and please don’t hesitate to email us or leave comments here if you have any questions.

Best regards,

Keenan, Daniel, and Alex

Slides—Smooth Surfaces

This lecture gives a crash course in the differential geometry of surfaces. There’s of course way more to know about surfaces than we can pack into a single lecture (and we’ll see plenty more later on), but this lecture will cover basic concepts like how to describe a surface and its normals. It also starts to connect surface theory to the other tools we’ve been building up, via vector-valued differential forms.

Slides—Discrete Curves

This lecture presents the discrete counterpart of the previous lecture on smooth curves. Here we also arrive at a discrete version of the fundamental theorem for plane curves: a discrete curve is completely determined by its discrete parameterization (a.k.a. edge lengths) and its discrete curvature (a.k.a. exterior angles). Can you come up with a discrete version of the fundamental theorem for space curves? If we think of torsion as the rate at which the binormal is changing, then a natural analogue might be to (i) associate a binormal \(B_i\) with each vertex, equal to the normal of the plane containing \(f_{i-1}\), \(f_{i}\), and \(f_{i+1}\), and (ii) associate a torsion \(\tau_{ij}\) to each edge \(ij\), equal to the angle between \(B_i\) and \(B_{i+1}\). Using this data, can you recover a discrete space curve from edge lengths \(\ell_{ij}\), exterior angles \(\kappa_i\) at vertices, and torsions \(\tau_{ij}\) associated with edges? What’s the actual algorithm? (If you find this problem intriguing, leave a comment in the notes! It’s not required for class credit.)