There has been a bit of a change in my approach to obtain PCDs. I have moved on to obtain PCDs(PLY, to be precise) using the Kinect Fusion Colour Basics. It scans the volume for 3D points and allows me to save in one of the three formats (OBJ, STD and PLY). I chose the PLY format as I can easily convert PLYs to PCDs using PCL.
Here is a video of me scanning around the room to obtain the mesh.
The mesh finally looks like this in MeshLab.
The next steps would be to take a few PCDs and probably use the Time Varying PCD program to visualise them like a movie.
Meanwhile, there happened to be a few issues with the datasets in the file locker. So, I have uploaded the files in UW-Madison Box. Here are the links to the datasets.
Candle Dataset 1 second : https://uwmadison.box.com/s/j1zheh8b46fbxjs079xs
Walking Person : https://uwmadison.box.com/s/lxkr7a7io5rbz84xy4uw