4.1 bag_to_pcd
Reads a bag file, saving all ROS point cloud messages on a specified topic as PCD files.
4.1.1 Usage
$ rosrun pcl_ros bag_to_pcd <input_file.bag> <topic> <output_directory>
Where:
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<input_file.bag> is the bag file name to read.
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<topic> is the topic in the bag file containing messages to save.
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<output_directory> is the directory on disk in which to create PCD files from the point cloud messages.
4.1.2 Example
Read messages from the /laser_tilt_cloud topic in data.bag, saving a PCD file for each message into the ./pointclouds subdirectory.
$ rosrun pcl_ros bag_to_pcd data.bag /laser_tilt_cloud ./pointclouds
参考：http://wiki.ros.org/pcl_ros