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You could try looking at the following tutorial from PCL. If that doesn't help but you are all ready printing this information out to the terminal you could simply create an intermediary node that would take in all of the information and have it publish a series of messages that would contain the information for the coordinates that you are looking for. Once you have the node to do this you can "record" the information by either writing it to the ROS Log file or you can write it to your own log file if you want to.

Hope this helps!