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find position of object in a bag

Hi guys, I need to find(estimate) the 3D position of the 'people in the scene' -- (this is in the bag file) with respect to the camera. My code is : (I didn't write it) ...
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How to extract depth data from rosbags(contains depth and RGB data) as picture frames

I have a Bagfile containing Raw depth and RGB data. I converted the RGB data into images using the tutorial http://wiki.ros.org/rosbag/Tutorials/Exporting%20image%20and%20video%20data But when I used ...
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