点云 DBSCAN 聚类（附open3d python代码）

import open3d as o3d
import numpy as np
import matplotlib.pyplot as plt

print("->正在加载点云... ")
pcd = o3d.io.read_point_cloud("test.pcd")
print(pcd)

print("->正在DBSCAN聚类...")
eps = 0.5           # 同一聚类中最大点间距
min_points = 50     # 有效聚类的最小点数
labels = np.array(pcd.cluster_dbscan(eps, min_points, print_progress=True))
max_label = labels.max()    # 获取聚类标签的最大值 [-1,0,1,2,...,max_label]，label = -1 为噪声，因此总聚类个数为 max_label + 1
print(f"point cloud has {max_label + 1} clusters")
colors = plt.get_cmap("tab20")(labels / (max_label if max_label > 0 else 1))
colors[labels < 0] = 0  # labels = -1 的簇为噪声，以黑色显示
pcd.colors = o3d.utility.Vector3dVector(colors[:, :3])
o3d.visualization.draw_geometries([pcd])