点云的区域增长聚类算法 （附open3d python代码）

 因为没有看到有python版本的点云区域增长代码，所以自己写了一个，效果如下：

 

 
# -*-coding:utf-8 -*-
import open3d as o3d
import matplotlib.pyplot as plt
import os
import numpy as np
 
 
 
def angle2p(N1, N2):
    # Input two normals, return the angle
    dt = N1[0] * N2[0] + N1[1] * N2[1] + N1[2] * N2[2]
    dt = np.arccos(np.clip(dt, -1, 1))
    r_Angle = np.degrees(dt)
    return r_Angle
 
 
class RegionGrowing:
    def __init__(self):
        """
           Init parameters
        """
        self.pcd = None  # input point clouds
        self.NPt = 0  # input point clouds
        self.nKnn = 20  # normal estimation using k-neighbour
        self.nRnn = 0.1  # normal estimation using r-neighbour
        self.rKnn = 20  # region growing using k-