.. 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

        :ref:`Go to the end <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 8-14

.. code-block:: Python


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

    # License: MIT
    # sphinx_gallery_thumbnail_number = 2








.. GENERATED FROM PYTHON SOURCE LINES 15-19

NOTE: there is no visualization tool in slam, but we provide at the
 end of this script exemplare code to do the visualization with
 an external solution
##############################################################################

.. GENERATED FROM PYTHON SOURCE LINES 21-22

importation of slam modules

.. GENERATED FROM PYTHON SOURCE LINES 22-26

.. code-block:: Python

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








.. GENERATED FROM PYTHON SOURCE LINES 27-28

loading an example mesh

.. GENERATED FROM PYTHON SOURCE LINES 28-30

.. code-block:: Python

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








.. GENERATED FROM PYTHON SOURCE LINES 31-32

Select a vertex and get the coordinate and normal.

.. GENERATED FROM PYTHON SOURCE LINES 32-36

.. code-block:: Python

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








.. GENERATED FROM PYTHON SOURCE LINES 37-40

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

.. GENERATED FROM PYTHON SOURCE LINES 40-45

.. code-block:: Python

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








.. GENERATED FROM PYTHON SOURCE LINES 46-47

Surface profiling

.. GENERATED FROM PYTHON SOURCE LINES 47-51

.. code-block:: Python

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








.. GENERATED FROM PYTHON SOURCE LINES 52-94

VISUALIZATION USING EXTERNAL TOOLS
############################################################################
 import trimesh.visual.color
 ###############################################################################
 # Visualize result
 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 0.098 seconds)


.. _sphx_glr_download_auto_examples_example_surface_profiling.py:

.. only:: html

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

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

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

    .. 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-zip

      :download:`Download zipped: example_surface_profiling.zip <example_surface_profiling.zip>`


.. only:: html

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

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