Converting the ROS bag files to pointclouds. There is one PCD (Point Cloud Data) file per frame.
rosrun pcl_ros bag_to_pcd <input_file.bag> <output_directory> Where: <input_file.bag> is the bag file name to read. is the topic in the bag file containing messages to save. (For GLD this was 'points2') <output_directory> is the directory on disk in which to create PCD files from the point cloud messages.