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Thank you RossK, however this unfortunately doesn't completely solve the problem. The script assumes that you have the RGB image, and the depth image. I only have the non-rectified bayered image, and the raw depth image. This is what the openni_launch tutorial recommends recording.

On top of the code you provided, I think I need to rectify the raw depth image and then convert its UINT values into valid depth values. Additionally I need to rectify and debayer the RGB image.

I assume since I recorded the registered depth image that I do not have to do anything else? Is there an API available to do this? Many thanks again