fovis_ros and xtion (no rgb)

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I want to use fovis_ros with my xtion to build lately a 3d map using octomap , but when i start the launch file of openni2 and mono_deth_odometer of fovis package i have the following errors:

1)The camera say me that the image taken is uncalibrated. 2)Fovis_ros receive image and info from the respective topic , but the "synchronized tuples" are 0. 3)I cannot visualize in anyway the result from fovis_ros topic (features,pose,odoemtry).