Create a recording and playing back Kinect data

[TatianaResend]

To be able to work at home without the kinect it is necessary to record a bag file.

Calibrated your Kinect (intrinsics and extrinsics):

• [x] Intrisic calibration (http://wiki.ros.org/openni_launch/Tutorials/IntrinsicCalibration)
• [x] Extrinsic calibration (http://wiki.ros.org/openni_launch/Tutorials/ExtrinsicCalibration)

Recording and playing back Kinect data (http://wiki.ros.org/openni_launch/Tutorials/BagRecordingPlayback):

• [x] Start the device
• [x] Record the bag
• [x] Playing back data

[TatianaResend]

Start the device:

roslaunch openni_launch openni.launch depth_registration:=true

Record the bag:

rosbag record camera/depth_registered/image_raw camera/depth_registered/camera_info camera/rgb/image_raw camera/rgb/camera_info --duration=20s -O kinect

rosbag info kinect.bag 

Start camera:

roscore

rosparam set /use_sim_time false
roslaunch openni_launch openni.launch load_driver:=false

Open rviz and create a PointCloud2 display of /camera/depth_registered/points, with fixed frame /camera_link.

rosrun rviz rviz  

rostopic hz /camera/depth_registered/points

Playing back data:

rosbag play -l --clock <file_name.bag>

[TatianaResend]

Link to the created bag file: https://uapt33090-my.sharepoint.com/:f:/g/personal/tatianaresende_ua_pt/EhQNmVKEdUdMilgyC_Fa2G0BeYKnZ2Q6EII4-JZgYatFdQ?e=FcT8X1

[TatianaResend]

Link to the bag files "kinect_complete.bag", "kinect_complete_no_chairs", "kinect_table" and the parameters of camera's intrinsic: https://uapt33090-my.sharepoint.com/:f:/g/personal/tatianaresende_ua_pt/EhQNmVKEdUdMilgyC_Fa2G0BeYKnZ2Q6EII4-JZgYatFdQ?e=FcT8X1