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

.. only:: html

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

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

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

.. _sphx_glr_auto_examples_example_surface_profiling.py:


.. _example_surface_profiling:

===================================
example of surface profiling 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 17-23

.. code-block:: default

    import numpy as np
    import trimesh.visual.color

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








.. GENERATED FROM PYTHON SOURCE LINES 24-25

loading an example mesh

.. GENERATED FROM PYTHON SOURCE LINES 25-27

.. code-block:: default

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








.. GENERATED FROM PYTHON SOURCE LINES 28-29

Select a vertex and get the coordinate and normal.

.. GENERATED FROM PYTHON SOURCE LINES 29-33

.. code-block:: default

    vert_index = 1000
    vert0 = mesh.vertices[vert_index]
    norm0 = mesh.vertex_normals[vert_index]








.. GENERATED FROM PYTHON SOURCE LINES 34-37

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

.. GENERATED FROM PYTHON SOURCE LINES 37-42

.. 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 43-44

Surface profiling

.. GENERATED FROM PYTHON SOURCE LINES 44-48

.. code-block:: default

    profile_points = surfpf.surface_profiling_vert(
        vert0, norm0, init_rot_dir, rot_angle, r_step, max_samples, mesh
    )








.. GENERATED FROM PYTHON SOURCE LINES 49-50

Visualize result

.. GENERATED FROM PYTHON SOURCE LINES 50-88

.. code-block:: default

    prof_points_mesh = profile_points.reshape(
        profile_points.shape[0] * profile_points.shape[1], 3
    )
    prof_points_colors = np.zeros(prof_points_mesh.shape)
    points_mesh = trimesh.points.PointCloud(
        prof_points_mesh, colors=np.array(prof_points_colors, dtype=np.uint8)
    )

    # set the points colors
    red, yellow, green, blue = [
        [255, 0, 0, 255],
        [255, 255, 0, 255],
        [0, 255, 0, 255],
        [0, 0, 255, 255],
    ]
    color_i = np.zeros(4)
    for i in range(len(prof_points_mesh)):
        degree = i / max_samples
        num_profiles = int(360 / rot_angle)
        segment_color = num_profiles / 3

        if degree <= segment_color:
            color_i = trimesh.visual.color.linear_color_map(
                degree / segment_color, [red, yellow]
            )
        elif segment_color < degree <= segment_color * 2:
            color_i = trimesh.visual.color.linear_color_map(
                degree / segment_color - 1, [yellow, green]
            )
        elif segment_color * 2 < degree <= num_profiles:
            color_i = trimesh.visual.color.linear_color_map(
                degree / segment_color - 2, [green, blue]
            )
        points_mesh.colors[i] = np.array(color_i)

    # create a scene with the mesh and profiling points
    #scene = trimesh.Scene([points_mesh, mesh])
    #scene.show(smooth=False)








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

   **Total running time of the script:** ( 0 minutes  0.171 seconds)


.. _sphx_glr_download_auto_examples_example_surface_profiling.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_surface_profiling.py <example_surface_profiling.py>`



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

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


.. only:: html

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

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