diff --git a/src/stella_vslam_ros.cc b/src/stella_vslam_ros.cc
index 87ea714..b0eaafb 100644
--- a/src/stella_vslam_ros.cc
+++ b/src/stella_vslam_ros.cc
@@ -347,7 +347,7 @@ void rgbd::callback(const sensor_msgs::msg::Image::ConstSharedPtr& color, const
         camera_optical_frame_ = color->header.frame_id;
     }
     auto colorcv = cv_bridge::toCvShare(color, encoding_)->image;
-    auto depthcv = cv_bridge::toCvShare(depth, encoding_)->image;
+    auto depthcv = cv_bridge::toCvShare(depth)->image;
     if (colorcv.empty() || depthcv.empty()) {
         return;
     }