现在针对某个项目，利用python实现DBSCAN和Kmeans算法。项目简介：利用某传感器可以采集场景中的点云，每一帧都可以采集数量不等的点(x,y,z)。想要利用DBSCAN和Kmeans对点云进行无监督式的聚类，并利用匈牙利匹配对不同帧的点云簇进行匹配，从而实现跟踪效果。项目备注：这是别人拜托我来写的，我花了一点点时间。从我的角度，这种方法解决该项目，简直是胡扯。。。不过，项目和人不靠谱，并不影响代码的有效性，权当一种消遣。#数据格式点云数据用csv格式文件存储，格式如下：第1行 Frame # | X | Y | Z第2行 1 -0.4 1.04 0.11第100行 1 15.4 7.45 0.16第101行 2 89.3 4.78 3.65第114行 2 34.4 6.04 0.56.........这里不贴出数据，有关数据部分的代码，可以调整为你自己所需的格式。
#DBSCAN算法代码
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实现功能：对点云进行DBSCAN聚类，并得到每一次聚类的点云簇的个数
加载所需的库
import pandas as pd
import numpy as np
import matplotlib.pyplot as plt
from sklearn.cluster import DBSCAN
from sklearn.preprocessing import StandardScaler从数据中不断按帧数来读取数据，从frame_start读，最多不能超过frame_end，直到读取点的数量达到num_threshold后停止。可以理解为，自适应地读取一定数量的点云，从而使得点云总数拓充到一个可以聚类的程度。
def adaption_frame(data, frame_start, frame_end, num_threshold=1000):
data_x = []
data_y = []
data_z = []
for i in range(frame_start, frame_end):
target_frame = i # 替换为你想要读取的Frame值
# 筛选出指定Frame值的点云数据
table_data = data[data['Frame #'] == target_frame]
x_arr = table_data['X'].values
data_x = np.concatenate((data_x, x_arr), axis=0)
y_arr = table_data['Y'].values
data_y = np.concatenate((data_y, y_arr), axis=0)
z_arr = table_data['Z'].values
data_z = np.concatenate((data_z, z_arr), axis=0)
if data_x.shape[0] > num_threshold:
break
return data_x, data_y, data_z利用坐标值，简单的对点云进行去噪
def valid_data(data_x, data_y, data_z):
# 创建一个布尔数组，检查每个元素是否在 -2 到 2 之间
# 使用 & 操作符来确保 A、B、C 的对应元素都满足条件
condition = (data_x >= -5) & (data_x <= 5) & (data_y>= -5) & (data_y <= 5) & (data_z >= -5) & (data_z <= 5)
# 使用布尔数组来索引 A、B、C，过滤出满足条件的元素
data_x_valid = data_x[condition]
data_y_valid = data_y[condition]
data_z_valid = data_z[condition]
# 输出新的数组大小
# print("x valid shape:", data_x_valid.shape)
# print("y valid shape:", data_y_valid.shape)
# print("z valid shape:", data_z_valid.shape)
return data_x_valid, data_y_valid, data_z_valid用于点云的绘图
def draw_data_origin(data_x, data_y, data_z):
# 创建3D绘图
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
# 绘制点云
ax.scatter(data_x, data_y, data_z, s=0.1) # s控制点的大小
# 设置轴标签
ax.set_xlabel('X')
ax.set_ylabel('Y')
ax.set_zlabel('Z')
ax.set_title(f'Point Cloud at Frame {1}')
# 显示图形
plt.show()DBSCAN代码
def dbscan(data_x, data_y, data_z):
# 将 X, Y, Z 合并成一个二维数组
data_input = np.column_stack((data_x, data_y, data_z))
# 标准化数据（对于许多聚类算法来说，标准化是一个好习惯）
scaler = StandardScaler()
data_scaled = scaler.fit_transform(data_input)
# 初始化 DBSCAN，这里 eps 和 min_samples 是两个重要的参数，需要根据数据特性进行调整
# eps 是邻域的半径大小，min_samples 是成为核心对象所需的最小邻居数
dbscan = DBSCAN(eps=0.3, min_samples=5)
# 进行聚类
labels = dbscan.fit_predict(data_scaled)
# 计算不同标签的数量，即点簇的个数
num_clusters = len(set(labels)) - (1 if -1 in labels else 0)
return num_clusters, labels, 对每一次的聚类结果，按照点数大小降序排列。例如：某次聚类结果分为了3类，label为2的点云簇点云数为100，label为2的点云簇点云数为30，label为3的点云簇点云数为50。结果就是对他们进行降序排列。
def order_cluster(clusters_num, labels):
unique_labels, inverse_indices = np.unique(labels, return_inverse=True)
print(unique_labels.shape)
print(inverse_indices.shape)
# 使用 numpy.bincount 统计每个标签出现的次数
counts = np.bincount(inverse_indices)
# 按照出现次数降序排列
sorted_indices = np.argsort(counts)[::-1] # 获取降序排列的索引
sorted_labels = unique_labels[sorted_indices] # 根据索引重新排列标签
sorted_counts = counts[sorted_indices] # 根据索引重新排列计数
# 打印结果
for label, count in zip(sorted_labels, sorted_counts):
print(f"类别 {label}: {count} 次")
A = []
for i in range(unique_labels.shape[0]):
# 首先找到个数最多的标签
most_common_label = sorted_labels[i]
# 然后找到这个标签在原始 labels 数组中的位置
positions_most_common = np.where(labels == most_common_label)[0]
A.append(positions_most_common)
return A第一次的聚类结果，需要进行特殊的处理。认为点云数量超过human_size，才可以成为一个有效簇。用这种方式得到第一次聚类结果，存在多少个有效簇，并返回最小簇的点云数。
def getFirstJudge(clusters_num, labels_order, human_size):
num = 0
for i in range(clusters_num):
size = labels_order[i].shape[0]
if size > human_size:
num = num + 1
points_num_min = size
return num, points_num_min每一次的聚类结果进行处理。如果这一次的聚类结果，有某一次的点云簇点云数大于上一次的最小点数，认为簇的个数可以增加；否则更新最新的最小簇代表的点云个数。
def adaption_cluster(clusters_num, labels_order, num_last, points_num_min, human_size):
print("上一帧个数:" + str(num_last)+ " 最小的点簇:"+str(points_num_min))
for i in range(clusters_num):
shape = labels_order[i].shape
if i <= num_last-1:
if labels_order[i].shape[0] < human_size:
num_last = i + 1
break
else:
points_num_min = labels_order[i].shape
else:
if labels_order[i].shape[0] > human_size:
num_last = num_last + 1
points_num_min = labels_order[i].shape
else:
break;
return num_last, points_num_min
主函数的实现流程：1.读取数据2.积累一定帧数的点云，随后聚类3.对每一次的聚类结果，进行处理
if __name__ == "__main__":
# 参数
human_size = 100
csv_file = 'data/1.csv' # 替换为你的CSV文件名
data = pd.read_csv(csv_file)
frame_start = data['Frame #'][0]
frame_end = data['Frame #'][data['Frame #'].shape[0]-1]
for i in range(100000):
frame_start = data['Frame #'][i]
if frame_start < frame_end:
break
print(frame_start)
print(frame_end)
# frame_start = 0
# frame_end = 120
num_last = 0 # 上一帧的人数
points_num_min = 0 # 满足此个数才是一个人
flag = 0
for i in range(frame_start, frame_end):
data_x, data_y, data_z = adaption_frame(data, frame_start, frame_end, num_threshold=1000)
data_x, data_y, data_z = valid_data(data_x, data_y, data_z)
clusters_num, labels = dbscan(data_x, data_y, data_z)
# draw_data_origin(data_x, data_y, data_z)
# 使用 numpy.unique 获取唯一标签和它们在原始数组中的索引
labels_order = order_cluster(clusters_num, labels)
print(labels_order[0].shape)
print(labels_order[1].shape)
if flag == 0:
num_last, points_num_min = getFirstJudge(clusters_num, labels_order, human_size)
flag = 1
else:
num_last, points_num_min = adaption_cluster(clusters_num, labels_order, num_last, points_num_min, human_size)
print("第 "+str(frame_start) + " 帧有 :" + str(num_last)+" 个人")
if frame_start + 10 > frame_end:
break
else:
frame_start = frame_start + 1
#Kmeans算法代码实现功能：设定K值，对点云进行Kmeans聚类，
加载所需的包
import pandas as pd
import numpy as np
import matplotlib.pyplot as plt
from sklearn.cluster import DBSCAN
from sklearn.preprocessing import StandardScaler
from sklearn.cluster import KMeans
from scipy.optimize import linear_sum_assignment
from scipy.spatial.distance import cdist以下代码同之前的DBSCAN一样，在这里不赘述
def adaption_frame(data, frame_start, frame_end, num_threshold=1000):
def valid_data(data_x, data_y, data_z):
def draw_data_origin(data_x, data_y, data_z):
def dbscan(data_x, data_y, data_z):
def order_cluster(clusters_num, labels):
def getFirstJudge(clusters_num, labels_order, human_size):
def adaption_cluster(clusters_num, labels_order, num_last, points_num_min, human_size):Kmeans进行聚类
def cluster_kmeans(value, data_x, data_y, data_z):
data_x = data_x.reshape(-1, 1)
data_y = data_y.reshape(-1, 1)
data_z = data_z.reshape(-1, 1)
# 将三个数组组合成一个(n, 3)的点云数组
points = np.hstack((data_x, data_y, data_z))
kmeans = KMeans(n_clusters=value, random_state=0).fit(points)
return kmeans从聚类结果中，提取一些特征，用做之后的匈牙利匹配。这里，提取了三个特征：点云簇的均值、点云数、以及点云排序id
def extract_feature(K, labels_order, data_x, data_y, data_z):
features = []
for i in range(K):
one_feature = []
data_x_k = data_x[labels_order[i]]
data_y_k = data_y[labels_order[i]]
data_z_k = data_z[labels_order[i]]
# print(data_x_k.shape)
# print(data_y_k.shape)
# print(data_z_k.shape)
x_mean = np.mean(data_x_k, axis=0)
y_mean = np.mean(data_y_k, axis=0)
z_mean = np.mean(data_z_k, axis=0)
cluster_mean = np.hstack((x_mean, y_mean, z_mean))
cluster_points_size = labels_order[i].shape
one_feature.append(cluster_mean)
one_feature.append(cluster_points_size)
one_feature.append(i)
features.append(one_feature)
return features用提取的特征进行匈牙利匹配
def hungarian_match(features_last, features_now):
# 提取点云中心和点云数
centers_last = np.array([a[0] for a in features_last])
counts_last = np.array([a[1][0] for a in features_last])
centers_now = np.array([b[0] for b in features_now])
counts_now = np.array([b[1][0] for b in features_now])
# 计算点云中心之间的欧氏距离
distance_matrix = cdist(centers_last, centers_now)
# 定义基于点云数和距离的成本函数
# 这里我们简单地使用距离的倒数和点云数差异的绝对值作为成本
# 你可能需要根据你的具体需求来调整这个成本函数
# cost_matrix = 1.0 / distance_matrix + np.abs(counts_last[:, np.newaxis] - counts_now)
cost_matrix = np.abs(counts_last[:, np.newaxis] - counts_now) + distance_matrix * 10
# 应用匈牙利算法找到最小成本匹配
row_ind, col_ind = linear_sum_assignment(cost_matrix)
# 打印匹配结果
matches = [(features_last[row_ind[i]], features_now[col_ind[i]]) for i in range(len(row_ind))]
for match in matches:
print(f"Match: last={match[0][0]} (count={match[0][1][0]}), (label={match[0][2]}), now={match[1][0]} (count={match[1][1][0]}), (label={match[1][2]})")
return matches主函数
if __name__ == "__main__":
csv_file = 'data/2.csv' # 替换为你的CSV文件名
K = 2
# 参数
human_size = 100
data = pd.read_csv(csv_file)
frame_start = data['Frame #'][0]
frame_end = data['Frame #'][data['Frame #'].shape[0]-1]
for i in range(100000):
frame_start = data['Frame #'][i]
if frame_start < frame_end:
break
frame_start = 0
frame_end = 120
num_last = 0 # 上一帧的人数
points_num_min = 0 # 满足此个数才是一个人
flag = 0
features_last = []
data_x_all= [[] for _ in range(K)]
data_y_all = [[] for _ in range(K)]
data_z_all = [[] for _ in range(K)]
for i in range(frame_start, frame_end):
data_x, data_y, data_z = adaption_frame(data, frame_start, frame_end, num_threshold=1000)
data_x, data_y, data_z = valid_data(data_x, data_y, data_z)
result_kmeans = cluster_kmeans(K, data_x, data_y, data_z)
# 输出每个点的label
labels = result_kmeans.labels_
labels_order = order_cluster(K, labels)
features = extract_feature(K, labels_order, data_x, data_y, data_z)
print(features)
frame_start = frame_start + 1
if flag == 0:
features_last = features
flag = 1
continue
else:
matches = hungarian_match(features_last, features)
for k in range(K):
# 第一维代表匹配对数，第二维0代表features_last，1代表features
# 第三维代表特征维度，第四维每个特征的参数
data_x_all[k].extend(data_x[labels_order[matches[k][0][2]]])
data_y_all[k].extend(data_y[labels_order[matches[k][0][2]]])
data_z_all[k].extend(data_z[labels_order[matches[k][0][2]]])
# print(len(data_x_all[k]))
features_last = features
# 创建颜色列表，这里使用RGB颜色
colors = ['r', 'g', 'b'] # 红色、绿色、蓝色
# 创建一个3D图形
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
# 遍历每组数据并绘制
for k in range(K):
x = data_x_all[k]
y = data_y_all[k]
z = data_z_all[k]
color = colors[k % len(colors)] # 使用循环颜色，以防K大于颜色数量
ax.scatter(x, y, z, c=color, label=f'Group {k+1}')
# 添加图例
ax.legend()
# 设置坐标轴标签
ax.set_xlabel('X')
ax.set_ylabel('Y')
ax.set_zlabel('Z')
# 显示图形
plt.show()结果
以下就是匈牙利匹配后的结果。红色和绿色分别代表，经过匈牙利匹配后的点云簇，统一了时间维度画在一张图上的结果。如果需要，可以按照时间序列一步步来画，这样可以看到红色和绿色沿着各自的动线前进
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