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Hi Thomas Thank you for your response.Its the type casting works for me and I get data that I want for Fovis .However I found that the topic ""/camera/depth/image" which I subscribe from a bag file is return rectified depth data and Fovis itself rectified data as well so its end up with a odometry far away from grand truth.

I may record those bag file in the row format and then try to rectify them in my program .