Run with Gazebo Simulation.

[sararht]

Hi, this code works perfect with the TUM dataset but I want to run it with images obtained from a Gazebo Simulation.
To get the rgb images I use the topic /camera/rgb/image_color .
And for the depth: /camera/depth/image. This topic gets depth maps in meters directly, so I think that don't need to make any conversion.

The Gazebo kinect model has the same calibration parameters that in the code. Also I think that I have created a gazebo world with enough texture.

I thought that it may work well but no. I don't know where is the problem. When I run it appears rgb and depth images well but, the trajectory is not correct.

Do you know if I have to make any image conversion or something?

Thank you in advance.

[musantos]

@sararht , did you manage to run with Gazebo?
I do have the same interest.