title: How can I save a PCD file from a Kinect?
body: <p>Preface: I'm fairly new to coding.  Using Ubuntu 12.04 with latest PCL downloaded from their site (I believe PCL 1.7)  I've successfully compiled and built the iograbber program listed here: <a href="http://pointclouds.org/documentation/tutorials/openni_grabber.php" rel="nofollow">http://pointclouds.org/documentation/tutorials/openni_grabber.php</a></p>
  
  <p>I've looked up and down through the tutorials on pointclouds.org and there's nothing in there that explains how to add a few lines of code to save the current Kinect point cloud as a PCD file.  In the "writer" tutorial it says</p>
  
  <pre><code>pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud)
  </code></pre>
  
  <p>But this is simply to save the random example points.  I want to execute the PCD saving with a keystroke, like pressing the spacebar.  I know people have done this before but I cannot find example code.  Can anyone point me in the right direction?</p>