Reconstruct PointCloud from RGBD data
I followed this wiki entry and recorded RGBD data using
rosbag record /rgbd/depth_registered/camera_info /rgbd/depth_registered/image_raw/compressed /rgbd/rgb/image_raw/compressed /rgbd/rgb/camera_info --duration=10s -O test
Note that I used compressed image to get more frames.
Then I tried to replay data to check if pointcloud will be generated automatically by openni as advertised on the wiki. I remapped topics to match openni naming conventions.
rosbag play test.bag /rgbd/depth_registered/camera_info:=camera/depth_registered/camera_info /rgbd/depth_registered/image_raw:=camera/depth_registered/image_raw /rgbd/rgb/camera_info:=camera/rgb/camera_info /rgbd/rgb/image_raw/compressed:=camera/rgb/image_raw/compressed --clock
But /camera/depth_registered/points is empty. How to achieve the same result as here http://wiki.ros.org/openni_launch/Tut... using rgbd_launch directly?