I found this Stack Overflow post that seems to be what I need, but I was wondering if there is a more elegant / simpler way to do this. I need to get the texture's color value based on the uv coordinate of a mesh. I know how to do this in the shader, but I need to do this outside of my shaders because the texture's color value is going to be setting uniforms for multiple meshes.
https://stackoverflow.com/questions/35005603/get-color-of-the-texture-at-uv-coordinate