fovis on depth-only sensors?

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Hey, I wanted to implement SLAM on Occipital's Structure Sensor which happens to be a depth only camera and provides no RGB images.

I was wondering if there is anyway to use the Fovis package to obtain odometry from Structure despite the fact that it subscribes to <camera>/rgb/image_rect

Is there any remapping etc that can be utilized for this or is that RGB frame crucial for odom calculation?

this is the error I get

Images received: 0 (topic '/camera/rgb/image_color') Depth images received: 33082 (topic '/camera/depth/image') Image camera info received: 0 (topic '/camera/rgb/camera_info') Depth camera info received: 33082 (topic '/camera/depth/camera_info') Synchronized tuples: 0

Or if there is any other option to perform 2D slam on structure sensor?