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RGBDSLAM requires /camera/depth/image (which contains float values in meter), not /camera/depth/image_raw (which provides 16bit integer values in mm). If you don't want to re-record the data and know C++, you can add a conversion in src/openni_listener.cpp in the method

void OpenNIListener::noCloudCallback (const sensor_msgs::ImageConstPtr& visual_img_msg,...)

There are two lines:

cv::Mat depth_float_img = cv_bridge::toCvCopy(depth_img_msg)->image;

Add changes s.t. the image is converted to float and meter there.

RGBDSLAM requires /camera/depth/image (which contains float values in meter), not /camera/depth/image_raw (which provides 16bit integer values in mm). If you don't want to re-record the data and know C++, you can add a conversion in src/openni_listener.cpp in the method

void OpenNIListener::noCloudCallback (const sensor_msgs::ImageConstPtr& visual_img_msg,...)

There are two lines:

cv::Mat depth_float_img = cv_bridge::toCvCopy(depth_img_msg)->image;

Add changes s.t. the image is converted to float and meter there.

cv::Mat depth_float_img2;
depth_float_img.convertTo(depth_float_img2,CV_32FC1);
depth_float_img = depth_float_img2 * 0.001