vSet = pcviewset;

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

absPose1 = rigid3d;vSet = addView(vSet,1,absPose1，“PointCloud”, ptCloud1);

vSet = addView(vSet,2,absPose1，“PointCloud”, ptCloud2);

ptcloud2downsamples = pcdownsample(ptCloud2，“gridAverage”, 0.1);gridStep = 0.5;relPose = pcregisterndt(ptCloud2Downsampled,ptCloud1,gridStep);

vSet = addConnection(vSet,1,2,relPose);

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

vSet = updateView(vSet,2,absPose2);