OpenCV error using PCL + ROS + Kinect

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Hi,

I'm working with PCL, ROS to use my kinect, I got an error when I use the following code:

#include <pcl/point_types.h>
 #include <pcl/filters/voxel_grid.h>
 #include <pcl_ros/point_cloud.h>
 #include <ros/ros.h>
 #include <boost/foreach.hpp>
 #include <sensor_msgs/PointCloud2.h>
 #include <pcl/io/pcd_io.h>
 
using namespace std;
ros::Publisher pub;
typedef pcl::PointXYZRGB rgbpoint;
typedef pcl::PointCloud<pcl::PointXYZRGB> cloudrgb;
typedef cloudrgb::Ptr cloudrgbptr;
void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& cloud)
{
  cloudrgbptr PC (new cloudrgb());
  cloudrgbptr PC_filtered (new cloudrgb());
  pcl::fromROSMsg(*cloud, *PC); //Now you can process this PC using the pcl functions 
  sensor_msgs::PointCloud2 cloud_filtered;
 
// Perform the actual filtering
   pcl::VoxelGrid<pcl::PointXYZRGB> sor ;
   sor.setInputCloud (PC);
   sor.setLeafSize (0.01, 0.01, 0.01);
   sor.filter (*PC_filtered);
 
//Convert the pcl cloud back to rosmsg
  pcl::toROSMsg(PC_filtered, cloud_filtered);
  //Set the header of the cloud
  cloud_filtered.header.frame_id = cloud->header.frame_id;
  // Publish the data
  //You may have to set the header frame id of the cloud_filtered also
  pub.publish (cloud_filtered);
}
int main(int argc, char * argv)
{
    ros::init(argc, argv, "test_pcl_ros");
    ros::NodeHandle nh;
    ros::Subscriber sub = nh.subscribe("camera/rgb/points", 1, cloud_cb);
    pub = nh.advertise<sensor_msgs::PointCloud2> ("/camera/rgb/david", 1);
    ros::spin();
}

And use the following commands:

$ roscore

$ rosrun openni_camera openni_node

$ rosrun my_pcl_test run_test input:=/camera/rgb/points

$ rosrun pcl_ros convert_pointcloud_to_image input:=/camera/rgb/david output:=/camera/rgb/david_img

Until that line everything works fine,the output is published as a Type: sensor_msgs/Image, but then I want to output the image in a window doing:

$ rosrun image_view image_view image:=/camera/rgb/david_img

I get this error:

OpenCV Error: Bad argument (Unknown array type) in cvarrToMat, file /tmp/buildd/libopencv-2.3.1+svn6514+branch23/modules/core/src/matrix.cpp, line 646 terminate called after throwing an instance of 'cv::Exception' what(): /tmp/buildd/libopencv-2.3.1+svn6514+branch23/modules/core/src/matrix.cpp:646: error: (-5) Unknown array type in function cvarrToMat

Any clue why is this happening, thanks in advance!

David