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What other data is in your bagfile, please post the output of rosbag info <yourbagfile>. If you have a cloud, set the topic for the depth image in rgbdslam's parameters to "" (empty string). Otherwise, try setting the "depth_scaling" parameter to 0.001 (I'm guessing that the 16bit thing contains millimeters).

I am unsure what you mean by "compressed" in the title? That the bagfile is compressed? That wouldn't have any impact (except the cpu performance required to decompress).