An Adaptive Screen-Space Meshing Approach for Normal Integration

Reconstructing surfaces from normals is a key component of photometric stereo. This work introduces an adaptive surface triangulation in the image domain and performs the normal integration on a triangular mesh afterwards. Our key insight is that surface curvature can be computed from normals. Based on curvature, we identify flat areas and aggregate pixels into triangles. The approximation quality is controlled by a single user parameter facilitating a seamless generation of low to high-resolution meshes. Compared to pixel grids, our triangle meshes adapt locally to surface details and allow for a sparser representation. Our new mesh-based formulation of the normal integration problem is strictly derived from discrete differential geometry and leads to well-conditioned linear systems. Results on real and synthetic data show that 10 to 100 times fewer vertices than pixels can be achieved. Experiments suggest that this sparsity translates into a sublinear runtime in the number of pixels. For 64 MP normal maps, our meshing first approach generates and integrates meshes in minutes while pixel-based approaches require hours for the integration alone.