Colored KinFu raising Error -213 "Not implemented in function 'integrate'", Request for minimal example

C++
1

I tried to use the colored_kinfu with the realsense D455. I am not sure if I have everything set up correctly (hence not submitting an issue yet), but I would like some help with having the algorithm running.

Here’s the relevant snippet of my code:

using namespace cv;
using namespace cv::kinfu;

Ptr<ColoredKinFu> kf;
kf = ColoredKinFu::create(params); // params are some parameters

// d and rgb are data acquired from the depth camera

Mat H_depth(depth_h, depth_w, CV_16UC1, (void*)d.get_data());
UMat D_depth(depth_h, depth_w, CV_16UC1);
H_depth.copyTo(D_depth);
H_depth.release();

Mat H_rgb(rgb_h, rgb_w, CV_8UC3, (void*)rgb.get_data());
UMat D_rgb(rgb_h, rgb_w, CV_8UC3);
H_rgb.copyTo(D_rgb);
H_rgb.release();

bool success = kf->update(D_depth, D_rgb); // this line causes the error
// opencv_contrib-4.5.5/modules/rgbd/src/tsdf.hpp:105: error: (-213:The function/feature is not implemented) Not implemented in function 'integrate'

If somebody can explain what I did wrong, or provide an minimal working example of calling the update function I would really appreciate it.

If I need to provide any additional information, please let me know. Thanks in advnace!