Image processing software » realsense-genom3

I would like to emulate the publishing of /camera/aligned_depth_to_color/image_raw, as done by realsense2_camera SDK.

I am now streaming the depth on ROS as follows:
::realsense::stream_depth {type ::realsense::STREAM_DEPTH index -1 width 848 height 480 format ::or::sensor::pixmap::ANY fps 0 name depth}
::realsense::publish {slot depth bank depth index 0}
A ROS node subscribes to the resulting topic and translates the openrobots message into sensor_msgs::Image.
However, I need to specify the encoding (which was 16UC1 originally). If I try to specify it like this, I cannot visualize the topic on RViz. Could you help me? What encoding should I pick?