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I created the pcd file using an existing bag to pcd converter in the packages.

I thought about this, and indeed, if I'm going to write my own .ply exporter anyway, I might as well skip all the unnecessary in-between steps. I could try creating a .pcd recorder, or even a .ply recorder, totally eliminating the need of a bag recorder.

I created the pcd file using an existing bag to pcd converter in the packages.

I thought about this, and indeed, if I'm going to write my own .ply exporter anyway, I might as well skip all the unnecessary in-between steps. I could try creating a .pcd recorder, or even a .ply recorder, totally eliminating the need of a bag recorder.

I created the pcd file using an existing bag to pcd converter in the packages.

I thought about this, and indeed, if I'm going to write my own .ply exporter anyway, I might as well skip all the unnecessary in-between steps. I could try creating a .pcd recorder, or even a .ply recorder, totally eliminating the need of a bag recorder.

Regarding your edit: that indeed makes it really simple. I had no idea that .pcd was already that close to a format that meshlab recognizes. I think I'll just mock up my own utility similar to what is shown in the tutorials to record a pcd as ascii (listen to a topic and write out an ascii pcd from the pointcloud data).