接受一个topic保存一帧为.pcd
rosrun pcl_ros pointcloud_to_pcd input:=/camera/depth/color/points
从.bag中取出点云转换为.pcd
rosrun pcl_ros bag_to_pcd '/home/lhd/ros/tergeo-indoor/2018-11-30-14-04-13.bag' /camera/depth/color/points '/home/lhd/ros/tergeo-indoor/pcd' camera_depth_optical_frame
# Syntax is: /home/lhd/catkin_ws/devel/lib/pcl_ros/bag_to_pcd <file_in.bag> <topic> <output_directory> [<target_frame>]
#Example: /home/lhd/catkin_ws/devel/lib/pcl_ros/bag_to_pcd data.bag /laser_tilt_cloud ./pointclouds /base_link