Changed around some thing. 1.) The key to save is now 's', press it to save the currently displayed point cloud. Press 'v' to toggle the visualize flag. It starts out as true, which means the program actively visualizes incoming PCL data from the kinect. If you press 'v' to toggle it off, the visualizer will pause on the current point cloud and allow you to analyze it visually, where you can then save it. Updated some of the order of the ROS publishing, all ROS stuff is inside the class except for the ros::start() and the creation of the ros::Node, which are both in the main function