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I agree with @dornhege. I would first try to use rosbag (maybe create a custom message with a list of points, or store all points as messages on a single topic). Alternatively, you can directly write rosbags from your program using the rosbag API [1,2]. If that doesn't suit you either, you can directly serialize the individual messages using the message serialization facilities [3]. Lastly, you are always free to just write your own specialized serialization. After all, a Point message is just 3 floats.
[1] http://wiki.ros.org/rosbag/Code%20API
[2] http://wiki.ros.org/rosbag/Cookbook
[3] http://wiki.ros.org/roscpp/Overview/MessagesSerializationAndAdaptingTypes
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