To start working with this database, you can use the repository : https://github.com/lmmartine/cp_clothes_db # Rosbags ** Rosbags inside the subdirectorys of each class : pant, shirt, tshirt, sweater and towel Topics : /tf : tf2_msgs/TFMessage /xtion1/depth/camera_info : sensor_msgs/CameraInfo /xtion1/depth/image_raw : sensor_msgs/Image /xtion1/depth/points : sensor_msgs/PointCloud2 /xtion1/rgb/camera_info : sensor_msgs/CameraInfo /xtion1/rgb/image_raw : sensor_msgs/Image /xtion2/depth/camera_info : sensor_msgs/CameraInfo /xtion2/depth/image_raw : sensor_msgs/Image /xtion2/depth/points : sensor_msgs/PointCloud2 /xtion2/rgb/camera_info : sensor_msgs/CameraInfo /xtion2/rgb/image_raw : sensor_msgs/Image ** rosbag with the topic : /tf_static to use the tfs of the principal rosbag