Is it possible to save a real-time display of a scene in a point cloud format ?

[mbouhallel]

Not sure if this question belongs here since it's not an issue.
I want to save the live representation of my scene as a .pcd file (just like a snippet from the window showed when running "rosrun kinect2_viewer kinect2_viewer kinect2 sd cloud")
Is this possible somehow ?

[mbouhallel]

Looks like saving the scene is done by pressing S, gives a color, depth and colored depth images and a point cloud of the scene. However the point cloud is upside down, so I'm looking for a way to handle .pcd files to get some transformations done (primarily rotations).