error occurs while running rgb-d dataset from http://vision.in.tum.de

[liqile]

hello, every one I am running svo with "rgbd_dataset_freiburg1_xyz.bag" I have changed the vo_node.cpp to set the camera and image stream topics and recompiled it the topics are /camera/depth/image (sensor_msgs/Image) contains the depth map /camera/rgb/camera_info (sensor_msgs/CameraInfo) contains the intrinsic camera parameters for the RGB camera, as reported by the OpenNI driver I typed three commands in three terminals $ roslaunch svo_ros test_rig3.launch $ rosrun rviz rviz $ rosbag play ~/rgbd_dataset_freiburg1_xyz.bag

but I saw nothing on rviz window

on the rosbag teminal, it stopped when arriving at duration of 3.780078 / 30.428861 the rosbag terminal displayed as follows: $ rosbag play ~/rgbd_dataset_freiburg1_xyz.bag [ INFO] [1427433073.617844147]: Opening /home/hongbohuang/rgbd_dataset_freiburg1_xyz.bag

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step. [RUNNING] Bag Time: 1305031102.162342 Duration: 3.780078 / 30.428861
Done.

the roslaunch terminal displayed errors as follows: [ INFO] [1427432783.385024768]: SVO initialized [ WARN] [1427432783.385963897]: Cannot find value for parameter: /camera/rgb/camera_info, assigning default: /camera/rgb/image_color [ INFO] [1427433082.645796917]: RESET terminate called after throwing an instance of 'std::runtime_error' what(): Frame: provided image has not the same size as the camera model or image is not grayscale [svo-2] process has died [pid 9925, exit code -6, cmd /home/hongbohuang/catkin_ws/devel/lib/svo_ros/vo __name:=svo __log:=/home/hongbohuang/.ros/log/0240709e-d43f-11e4-bcdc-bcaec584f5df/svo-2.log]. log file: /home/hongbohuang/.ros/log/0240709e-d43f-11e4-bcdc-bcaec584f5df/svo-2*.log

should I run svo with grayscale image? if so, how to get the grayscale image from TU-munich rgb-d dataset ?

Thanks a lot best

                                                                                                          liqile

thanks in advance..