点云数据批量，连续3帧或5帧叠加/拼接

环境：Ubuntu
如果是windows系统，读取文件的代码可参考：https://blog.csdn.net/qq_19332527/article/details/78404583

前提：
1）在Linux系统编译环境下，C++头文件<io.h>。在查询到findfirst的百度百科的时候有如下的解释：

Linux下的FindFirst
在linux操作系统下，编译器用findfirst(),而不是_findfirst().
linux操作系统下的查找文件的操作，需要包含dirent.h头文件.

但是尝试之后仍旧不行就放弃了。。。。（怎么总是放弃啊。。。。。但是真的查好久了，如果有新的解答，欢迎评论私信！！谢谢！！）
2）另尝试用python-pcl来完成，但是这个安装实在有点坑，放弃了。最后还是用C++完成。

#include <algorithm>
#include <iostream>
#include <stdio.h>
#include <dirent.h>
#include <fstream>
#include <string>
#include <vector>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/console/time.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/visualization/cloud_viewer.h>
using namespace std;

void scanFile(char *szDir){
    DIR *pDir = NULL;
    struct dirent *pFile = NULL;

    pDir = opendir(szDir);
    if (pDir == NULL) return;
    vector<string> result;

    while ((pFile = readdir(pDir)) != NULL){
        if (pFile->d_type & DT_DIR){
            if (strcmp(pFile->d_name, ".") ==0
                || strcmp(pFile->d_name, "..") == 0) continue;
            char Path[256];
            int len = strlen(szDir);
            strncpy(Path, szDir, len + 1);
            if (szDir[len-1] !='/') strncat(Path, "/", 2);
            strncat(Path, pFile->d_name, strlen(pFile->d_name) + 1);
            scanFile(Path);
        }
        else {
            result.push_back(pFile->d_name);

        }
    }
    string path(szDir);
    sort(result.begin(), result.end());
    for (int i=4; i<result.size(); i++){
        pcl::PointCloud<pcl::PointXYZI> cloud_1;
        pcl::PointCloud<pcl::PointXYZI> cloud_2;
        pcl::PointCloud<pcl::PointXYZI> cloud_3;
        pcl::PointCloud<pcl::PointXYZI> cloud_4;       //如果是三帧，则将cloud_4,cloud_5这几句相关的去掉即可
        pcl::PointCloud<pcl::PointXYZI> cloud_5;
        pcl::console::TicToc tt;
        cout<<szDir<<endl;

        pcl::PCDReader reader1;
        string path1 = path + '/' + result[i-4];
        reader1.read(path1, cloud_1);

        pcl::PCDReader reader2;
        string path2 = path + '/' + result[i-3];
        reader2.read(path2, cloud_2);

        pcl::PCDReader reader3;
        string path3 = path +'/' + result[i-2];
        reader3.read(path3, cloud_3);

        pcl::PCDReader reader4;
        string path4 = path + '/' + result[i-1];
        reader4.read(path4, cloud_4);

        pcl::PCDReader reader5;
        string path5 = path + '/' + result[i];
        reader5.read(path5, cloud_5);

        pcl::PointCloud<pcl::PointXYZI> cloud;
        cloud = cloud_1 + cloud_2;
        cloud = cloud + cloud_3;
        cloud = cloud + cloud_4;
        cloud = cloud + cloud_5;
        std::cerr<<"The point cloud_1 has:  "<<cloud_1.points.size()<<"  points data."<<std::endl;
        std::cerr<<"The point cloud_2 has:  "<<cloud_2.points.size()<<"  points data."<<std::endl;
        std::cerr<<"The point cloud_3 has:  "<<cloud_3.points.size()<<"  points data."<<std::endl;
        std::cerr<<"The point cloud_4 has:  "<<cloud_4.points.size()<<"  points data."<<std::endl;
        std::cerr<<"The point cloud_5 has:  "<<cloud_5.points.size()<<"  points data."<<std::endl;
        std::cerr<<"The point cloud has:  "<<cloud.points.size()<<"  points data."<<std::endl;
        pcl::PCDWriter writer;
        writer.write(result[i],cloud);
        //printf("path:%s fileName:%s\n", szDir, result[i].c_str());
    }
    closedir(pDir);
}
int main(){
    char path[100]="/home/yxh/Code/data/train/multi-frame/5";
    scanFile(path);
    return 0;
}

参考文献：
https://blog.csdn.net/xiexingshishu/article/details/42886885
https://blog.csdn.net/qq_42318305/article/details/81988138