Open3D DBSCAN显示聚类结果（同时显示包围框和点云）

效果如下：

import open3d as o3d
import numpy as np
import matplotlib.pyplot as plt
import random,colorsys

pcd = o3d.io.read_point_cloud("/home/zhengxin/PV_System/data/buildings.pcd")
xyz = np.asarray(pcd.points)
with o3d.utility.VerbosityContextManager(o3d.utility.VerbosityLevel.Debug) as cm:
    labels = np.array(pcd.cluster_dbscan(eps=1.5, min_points=100, print_progress=True))

max_label = labels.max()
print(f"point cloud has {max_label + 1} clusters")

vis = o3d.visualization.Visualizer()
vis.create_window()

for i,label in enumerate(np.unique(labels)):
    if label==-1:
        continue
    else:
        idx=np.where(labels==label,True,False)

        xyz_building = o3d.geometry.PointCloud()
        xyz_building.points=o3d.utility.Vector3dVector(xyz[idx])

        vis.add_geometry(xyz_building)

        bbox = xyz_building.get_axis_aligned_bounding_box()
        bbox.color=(0,0,0)
        vis.add_geometry(bbox)

        vis.poll_events()
        vis.update_renderer()
vis.run()
# vis.destroy_window()