Using custom publisher with RGBDSlam
I plan to try RGBDSlam on a pre recorded data. For that I have written a publisher which reads my data from text files and publishes. However the result that I get is not very good and also I have seen that depth image seen on RGBDSlam is only black and white.
I am publishing:
/camera/rgb/image_mono which is a grayscale image sent through cvbridge
/camera/depth/image, which is a IPL_DEPTH_32F IplImage, filled with depth values (in meters) and again sent through cvbridge
/camera/rgb/points which is generated as a vector of PointXYZRGB
The point cloud and mono image are ok, I can see them clearly in RGBDSlam, however seeing depth image as I have mentioned makes me suspect that I am missing something. Am I?
Thanks..