vSet = pcviewset;

data =负载(“livingRoom.mat”）;ptCloud1 = data.livingRoomData {1};ptCloud2 = data.livingRoomData {2};

vSet = addView (vSet 1“PointCloud”, ptCloud1);vSet = addView (vSet 2“PointCloud”, ptCloud2);

vSet = addConnection (vSet 1 2);

ptCloud2Downsampled = pcdownsample (ptCloud2,“gridAverage”, 0.1);gridStep = 0.5;relPose = pcregisterndt (ptCloud2Downsampled ptCloud1 gridStep);

absPose1 = rigid3d;absPose2 = rigid3d (absPose1.T * relPose。T);

vSet = updateConnection (vSet, 1、2、relPose);

vSet = updateView (vSet 1 absPose1);vSet = updateView (vSet 2 absPose2);