vSet = pcviewset;

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

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

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

ptCloud2Downsampled = 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);