Physical setup for collecting tod_training data?

edit

I wonder how to collect tod_training data? From a previous question I know that we should be able use

roslaunch tod_training record_openni.launch bag:=pwd/awesome.bag interval:=0.5

Unfortunately, the tutorial about recording a training bag is empty. I wonder how to setup our environment. We need fiducial markers rigidly attached to a rotating table and in between these markers, we place an object, correct? Is it enough to create a setup as shown on the picture?

(image showing part of the sample training bags found in the base-creation tutorial)

• Must the print size of the fiducial markers have a certain size?
• Are there any crucial aspects I have to be aware of in my preparation?

As collection of training data can be time-consuming and needs hardware, I want to make sure we're on the right track before starting the attempt.