Continuous perception of a clothes database
First, create the directory where the images of the database will be stored:
$ roscd cp_clothes_db
$ mkdir IMG_OUT
Now you are ready to run the nodes:
$ roscore
$ roslaunch cp_clothes_db cp_clothes_db_xtion1.launch
$ roslaunch cp_clothes_db cp_clothes_db_xtion2.launch
Activate the processing nodes:
$ rosservice call /xtion1_mask/active "select: true"
$ rosservice call /xtion2_mask/active "select: true"
Play the rosbag
$ rosbag play tf_static.bag
$ rosbag play pant1_move2_topics.bag
Now you can see with rqt_image_view the mask published on the topic "/xtion2/mask/image_raw"