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There is a script provided with the RGBDSLAM benchmark data set from Freiburg that adds a pointcloud to a bagfile given these topics. Take a look here http://vision.in.tum.de/data/datasets/rgbd-dataset/tools#adding_point_clouds_to_ros_bag_files
Take a look at the script 'add_pointclouds_to_bagfile.py'. You can either use it on your bagfile or look at the code. Note if you want to use it you will need to change the topic names in the script, as the script was written for the electric openni drivers.
| | 2 | No.2 Revision |
There is a script provided with the RGBDSLAM benchmark data set from Freiburg that adds a pointcloud to a bagfile given these topics. Take a look here http://vision.in.tum.de/data/datasets/rgbd-dataset/tools#adding_point_clouds_to_ros_bag_files
Take a look at the script 'add_pointclouds_to_bagfile.py'. You can either use it on your bagfile or look at the code. Note if you want to use it you will need to change the topic names in the script, as the script was written for the electric openni drivers.
EDIT: Sorry I didn't see that you had recorded the raw images. I don't know how to rectify these images, however recording /camera/depth_registered/image and /camera/rgb/image_rect_color instead of the raw images would solve this.
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