.. DO NOT EDIT.
.. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY.
.. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE:
.. "auto_examples/example_profile_texture.py"
.. LINE NUMBERS ARE GIVEN BELOW.

.. only:: html

    .. note::
        :class: sphx-glr-download-link-note

        Click :ref:`here <sphx_glr_download_auto_examples_example_profile_texture.py>`
        to download the full example code

.. rst-class:: sphx-glr-example-title

.. _sphx_glr_auto_examples_example_profile_texture.py:


.. _example_profile_texture:

===================================
example of profile texture in slam
===================================

.. GENERATED FROM PYTHON SOURCE LINES 8-15

.. code-block:: default


    # Authors: Tianqi SONG <tianqisong0117@gmail.com>

    # License: BSD (3-clause)
    # sphinx_gallery_thumbnail_number = 2









.. GENERATED FROM PYTHON SOURCE LINES 16-17

importation of slam modules

.. GENERATED FROM PYTHON SOURCE LINES 17-24

.. code-block:: default

    import numpy as np
    import trimesh.visual.color
    from matplotlib import pyplot as plt

    import slam.surface_profiling as surfpf
    import slam.io as sio








.. GENERATED FROM PYTHON SOURCE LINES 25-26

loading an example mesh and its texture

.. GENERATED FROM PYTHON SOURCE LINES 26-29

.. code-block:: default

    mesh = sio.load_mesh("data/example_mesh.gii")
    texture = sio.load_texture("data/example_texture.gii")








.. GENERATED FROM PYTHON SOURCE LINES 30-31

Select a vertex and get the coordinate and normal.

.. GENERATED FROM PYTHON SOURCE LINES 31-35

.. code-block:: default

    vert_index = 1500
    vert0 = mesh.vertices[vert_index]
    norm0 = mesh.vertex_normals[vert_index]








.. GENERATED FROM PYTHON SOURCE LINES 36-39

Set the parameters for surface profiling
initial direction of rotation, rotation angle, length and number of
sampling steps

.. GENERATED FROM PYTHON SOURCE LINES 39-44

.. code-block:: default

    init_rot_dir = np.array([1, 1, 1]) - vert0
    rot_angle = 10
    r_step = 0.1
    max_samples = 45








.. GENERATED FROM PYTHON SOURCE LINES 45-46

Surface profiling, here we do the second round profiling

.. GENERATED FROM PYTHON SOURCE LINES 46-54

.. code-block:: default

    num_face = len(mesh.faces)
    mesh_faces_id = np.linspace(0, num_face, num_face + 1).astype(int)
    profile_samples, profile_co_faces = surfpf.second_round_profiling_vert(
        vert0, norm0, init_rot_dir, rot_angle, r_step, max_samples, mesh, mesh_faces_id
    )

    profile_points = profile_samples[:, :, 2]








.. GENERATED FROM PYTHON SOURCE LINES 55-56

Compute texture values of profile points

.. GENERATED FROM PYTHON SOURCE LINES 56-62

.. code-block:: default

    profile_samples = np.array([profile_samples])
    profile_samples_fid = np.array([profile_co_faces])
    profile_texture = surfpf.get_texture_value_on_profile(
        texture, mesh, profile_samples, profile_samples_fid
    )








.. GENERATED FROM PYTHON SOURCE LINES 63-65

Visualize result
Generate colors of profile points

.. GENERATED FROM PYTHON SOURCE LINES 65-92

.. code-block:: default


    # set color maps
    color_map = plt.get_cmap("jet", 12)

    # get texture value of profile points and mesh
    profile_tex = profile_texture.reshape(profile_texture.size)
    texture_value = texture.darray[0]

    # put them together to generate the colors
    prof_mesh_tex_color = np.hstack([profile_tex, texture_value])
    prof_mesh_points_color = trimesh.visual.color.interpolate(
        prof_mesh_tex_color, color_map=color_map
    )

    mesh.visual.vertex_colors = prof_mesh_points_color[profile_texture.size :]

    # Create point cloud of profiling points
    prof_points_mesh = profile_points.reshape(
        profile_points.shape[0] * profile_points.shape[1], 3
    )
    prof_points_colors = prof_mesh_points_color[: profile_texture.size]
    points_mesh = trimesh.points.PointCloud(
        prof_points_mesh, colors=np.array(prof_points_colors, dtype=np.uint8)
    )

    #scene = trimesh.Scene([points_mesh, mesh])
    #scene.show()#smooth=False)








.. rst-class:: sphx-glr-timing

   **Total running time of the script:** ( 0 minutes  0.104 seconds)


.. _sphx_glr_download_auto_examples_example_profile_texture.py:


.. only :: html

 .. container:: sphx-glr-footer
    :class: sphx-glr-footer-example



  .. container:: sphx-glr-download sphx-glr-download-python

     :download:`Download Python source code: example_profile_texture.py <example_profile_texture.py>`



  .. container:: sphx-glr-download sphx-glr-download-jupyter

     :download:`Download Jupyter notebook: example_profile_texture.ipynb <example_profile_texture.ipynb>`


.. only:: html

 .. rst-class:: sphx-glr-signature

    `Gallery generated by Sphinx-Gallery <https://sphinx-gallery.github.io>`_