saving depth image into pcd

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Hey Kang,

There is a PCL tutorial on writing point cloud data to PCD files available here. Additionally, there is a simple tool called pointcloud_to_pcd which does this and is located in the pcl_ros folder. You would run something along the lines of:

rosrun pcl_ros pointcloud_to_pcd input:=/camera/depth/points2

if your depth data was being published on /camera/depth/points2. The node would then write a PCD file for each message it received.

Hope this helps,

Peter