open3d 最远距离采样FPS

关键代码(FPS)：

pcd_down = pcd.farthest_point_down_sample(1000)  # pcd: CloudPoint

如果是mesh采样(不是FPS)：

pcl = mesh.sample_points_poisson_disk(number_of_points=10000)  # mesh: TriangleMesh. pcl: PointCloud class 

最远距离采样：

Downsample a pointcloud into output pointcloud with a set of points has farthest distance.The sampling is performed by selecting the farthest point from previous selected points iteratively

该算法由PointNet提出：均匀采样，使得这些点可以比较好的表征点云的整体轮廓。

import open3d as o3d

if __name__ == "__main__":
    # 1. read pcd
    # Load bunny data.
    bunny = o3d.data.BunnyMesh()
    pcd = o3d.io.read_point_cloud(bunny.path)
    pcd.paint_uniform_color([0.5, 0.5, 0.5])

    # 2. sample
    # Get 1000 samples from original point cloud and paint to green.
    pcd_down = pcd.farthest_point_down_sample(1000)  # pcd: CloudPoint
    # pcl = mesh.sample_points_poisson_disk(number_of_points=10000)  # mesh: TriangleMesh. pcl: PointCloud class

    # 3. view
    pcd_down.paint_uniform_color([0, 1, 0])
    o3d.visualization.draw_geometries([pcd, pcd_down])
    # o3d.visualization.draw([pcd, pcd_down])